JPH0671382B2 - Combine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of use] The present invention provides a traveling machine body with a pair of left and right traveling devices.
Elevating and lowering drive means for individually raising and lowering the ground contact portions of the pair of left and right traveling devices with respect to the traveling machine body, inclination angle detecting means for detecting a horizontal inclination angle of the traveling machine body with respect to a horizontal reference plane, and the inclination angle detection. And a rolling control means for operating the elevating and lowering drive means so as to maintain the horizontal tilt angle of the traveling machine body at a set tilt angle based on the information of the means.

[Conventional technology]

Conventionally, as this type of combine, the left and right traveling devices as a whole are provided so that they can be independently lifted and lowered so that the grounding portions of a pair of left and right traveling devices can be individually moved up and down with respect to the traveling device. , A control mode is adopted in which the traveling device is moved up and down based on the detection result of the inclination angle detector to maintain the lateral inclination angle of the traveling body within a set range (for example, Japanese Patent Laid-Open No. 61-1586). .

[Problems to be solved by the invention]

Certainly, in the above configuration, there is no problem in setting the inclination angle, but since the left and right traveling devices can be independently raised and lowered, even if the inclination angle is the same, the left and right traveling devices are grounded. The height of the part against the traveling aircraft can be set arbitrarily. Therefore, because of this degree of freedom, there is a risk that the ground height of the traveling body will change, and if the cutting height is not constant or if the traveling body is located at a high ground height, the stability of the aircraft will be high. There was a problem that was worse.

An object of the present invention is to adopt a configuration in which a grounding portion of a traveling device is independently moved up and down, and it is possible to further reduce a change in ground height of a traveling machine body and suppress a change in cutting height. The point of providing a combine that can keep the ground clearance of the traveling machine body as low as possible even after the adjustment of the left and right inclination angles of the traveling machine body to the set inclination angle is completed and in the process of the adjustment. It is in.

[Means for solving problems]

In the characteristic configuration according to the present invention, a lower limit detection unit that detects an ascending limit position with respect to the vehicle body of each ground contact portion of the pair of left and right traveling devices is provided, and the rolling control unit sets the horizontal inclination angle of the traveling machine unit to the above-mentioned setting. When the tilt angle is not maintained, the ground contact portion on the side that is located on the rising side with respect to the set tilt angle is operated to lift the aircraft, and
The lower limit detecting means detects the ground contact portion on the side on the ascending side and detects the ground contact portion on the side on the descending side with respect to the set inclination angle as the aircraft body ascending limit position is detected. When the aircraft descending operation is performed and the horizontal inclination angle of the traveling aircraft is maintained at the set inclination angle, until the lower limit detecting means detects the ascending limit position to the aircraft on either the left or right grounding portion, It is configured so that both the left and right ground contact parts are operated to raise the aircraft, and the operation and effect thereof are as follows.

[Action]

In other words, when the adjustment of the left / right tilt angle of the traveling machine body to the set inclination angle is completed, the ground contact portion of one traveling device is always at the upper limit position, and the ground contact portion of the other traveling device is tilted left / right. The traveling device is located at a position lower than the ascending end position by an amount corresponding to the corner (of course, the ground contact portion of the other traveling device may be located at the ascending end position), and the ground clearance of the traveling machine body is at the ascending end position. It can be set to a low position which is always equal to the difference in height between the ground contact area and the traveling body.

Moreover, since the rolling control means is configured so as to first perform the operation for raising the ground contact portion on the rising side with respect to the set inclination angle, the set inclination of the left and right inclination angles of the traveling body is set. Even in the process of adjusting the corner, the ground clearance of the traveling vehicle can be reduced as much as possible.

〔The invention's effect〕

Therefore, the ground clearance of the traveling vehicle can be kept as low as possible even in the state where the adjustment of the horizontal inclination angle of the traveling vehicle to the set inclination angle is completed and in the process of the adjustment. The position of the center of gravity of the traveling body can be kept as low as possible to ensure traveling stability, and the ground height of the traveling body can be set low so that the height of the stumps can be kept low and constant.

〔Example〕

As shown in FIG. 2, the raising device (1), the reaping device (2) for reaping the grain culms raised by the raising device (1), and the conveyance of the reaped grain culm to the rear threshing device (3). The reaping pretreatment device (5) equipped with a rear transport device is freely swingable up and down by a lifting cylinder around a lateral support shaft on a traveling machine body (7) equipped with a pair of left and right crawler traveling devices (6), (6). It is attached to and configured as a combine.

Next, the mounting structure of the left and right crawler traveling devices (6) and (6) to the traveling machine body (7) will be described. As shown in FIG.
A drive sprocket (12) and a tension sprocket (13) are attached and fixed to the front and rear ends of the track frames (11) and (11) of the main frame of the traveling body (7) in the front-back orientation. The track frame (11) has a pair of front and rear movable frames (15A), (15B) pivotally supporting a plurality of idler wheels (14) on the lateral outer side thereof so as to be capable of relative vertical movement. A large diameter idler wheel body (16) is supported by the track frame (11) so as to be vertically swingable at an intermediate position of the idler wheel group (14). Front and rear bell cranks (17A) and (17B) pivotally supported on the track frame (11) so as to be vertically swingable are attached to the front and rear movable frames (15A) and (15B), respectively. (17A) and (17B) are connected by a connecting rod (18), and the other end of the rear bell crank (17B) is provided with a pair of left and right traveling devices (6) grounding portions with respect to the traveling machine body (7). An elevating cylinder (19) for rolling is connected as an elevating drive means for performing an elevating operation separately, so that the front and rear movable frames (15A) and (15B) are moved up and down by the same amount in the same direction, and the traveling device (6). The grounding parts of the vehicle can be moved up and down individually with respect to the traveling machine body (7).

Then, as shown in FIG. 2, the pair of left and right traveling devices (6) are detected by detecting the stroke ends of both the cylinders (19), (19) for the both cylinders (19), (19) for rolling. An upper limit switch (25a) for detecting the lower limit position of the aircraft to the grounding part of each of the grounding parts and a lower limit switch (25b) as a lower limit detecting means for detecting the upper limit position of the grounding part of the respective grounding parts are provided. (See FIG. 3), the detected values from these are input to the control device (21), and the gravity type inclination angle as an inclination angle detecting means for detecting the horizontal inclination angle of the traveling body (7) with respect to the horizontal reference plane. Based on the detection value of the detection sensor (23), as shown in FIG. 1, the horizontal inclination angle of the traveling body (7) with respect to the horizontal reference plane (ground) is maintained at the setting value from the inclination setting device (22). With control valve (24) Lifting Cylinder (19)
Rolling control is possible by using. In this case, only the ground contact portion of one of the traveling devices (6) is lifted and lowered. As a form of raising and lowering the ground contact portion of the traveling device (6), as shown in FIG. Pair (14)
The traveling device (6) can be lifted up and down to raise and lower the ground contact portion, and as shown in FIG. 3, the traveling device (6) can be raised and lowered as a whole to raise and lower the ground contact portion. The limit switches (25a) and (25b), the sensor (23), the setting device (22), and the control device (21) for controlling them are referred to as automatic tilt angle control means (4).

In addition, the inclination angle control is performed by arbitrarily raising or lowering the grounding portions of the traveling devices (6) and (6) based on the detection result of the stroke sensor (20) such as a potentiometer that detects the operation amount of the rolling cylinder (19). A switch (8) for switching between the manual tilt angle control means for performing and the automatic tilt angle control means (4) is provided, and a threshing switch (9) for detecting the operation of the threshing device (5) is provided. ), (9)
The automatic tilt angle control means (4) is OF according to the detection result by
When it becomes F or when the threshing device (3) stops operating, the ground contact parts of both traveling devices (6) and (6) are moved to the lower limit (25b) and (25b) positions for traveling. Traveling vehicle lower limit control means (1) for switching the vehicle (7) to the lower limit position
0) is activated.

The switches (8) and (9), the limit switches (25a) and (25b) described above, and the rolling lifting cylinder (1
9) etc. are called traveling machine body lower limit control means (10).

When the manual priority switch (26) is operated,
The ground portions of both traveling devices (6) and (6) operate in opposite directions at the same time. In other words, this manual priority switch (26)
As shown in FIG. 1, it is a cross swing type, and when swinging to the left and right, the ground contact portions of the traveling devices (6) and (6) simultaneously move up and down in opposite directions, and the traveling machine body rolls in that direction. When operated and rocked back and forth, the traveling device (6),
At the same time, the ground contact portion of (6) moves up and down in the same direction, and the traveling machine body moves up and down. Such manual priority switch (26)
When operated right and left, the inclination angle can be set arbitrarily, and the manual priority switch (26), control valve (24), etc. are referred to as manual inclination angle control means (27). The automatic tilt angle control means (4), the manual tilt angle control means (27) and the traveling machine body lower limit control means (10) are referred to as rolling control means (28).

A control flow by the rolling control means (28) is shown based on the above configuration. As shown in FIG. 4, first, if the automatic tilt angle control means (4) and the threshing device (3) are in operation, the automatic flag is set to "1" to perform the automatic tilt angle control. The detected value from the inclination angle detection sensor (23) of the traveling machine body (7) and the set value from the inclination angle setting device (22) are taken in, and the two are compared to calculate the declination angle (step I). This declination indicates in which direction the aircraft is tilting. Here, (+) is in the upper right position. (-) Is set to the upper left position. When the declination is (+), "lower right output" (right travel device (6)
Output that raises the ground contact part of the vehicle with respect to the traveling vehicle (7))
But check that the lower limit (25b) on the right is not working. When this right lower limit (25b) is operating, the right rolling lifting cylinder (19) is at the stroke end (shortening), so "upper left output"
(Output for lowering the ground contact portion of the left traveling device (6) with respect to the traveling machine body (7)). As described above, the raising and lowering operations of the ground contact portions of both traveling devices (6) and (6) are periodically (for example,
Repeat every 10 ms) and change the inclination so that the declination becomes “0”.

On the other hand, if the declination is (-), the procedure opposite to that for (+) may be performed.

That is, the rolling control means (28), when the left and right inclination angle of the traveling vehicle body (7) is not maintained at the set inclination angle, the rolling control means (28) determines the ground contact portion on the side that is located on the rising side with respect to the set inclination angle. The lower limit switch (25b) is positioned on the descending side with respect to the set inclination angle as the lower limit switch (25b) detects the upper limit position of the ground contacting part on the ascending side. The grounding portion on the side where the vehicle is located is configured to be operated to descend the aircraft.

From the above, when the declination is in the dead zone (≈0) or in the dead zone, at least until the lower limit switch (25b), (25b) on either the left or right side is actuated, the lifting cylinder (19), "Lower right output, lower left output" is issued to shorten (increase) (19) (step II). That is,
The rolling control means (28) uses the lower limit switch (25b) to set the lower limit switch (25b) to the ascending limit position of the traveling body to the aircraft when the horizontal inclination angle of the traveling vehicle (7) is maintained at the set inclination angle. It is configured such that both the left and right ground contact portions are operated to raise the aircraft body until is detected. Therefore, the stroke sensor (2
0) is not required.

Next, when the automatic tilt angle control means (4) and the threshing device (3) are not in operation, the lower limit flag is "φ" or "1".
If it is "φ", it is not necessary to perform the lower limit control, so "left and right traveling device stop output" is output, and when the lower limit flag is "1", the left and right lower limit (25b), (25b) are It outputs "lower output" until it operates. When the left and right lower limit (25b) and (25b) are activated, the lower limit flag is set to "φ" (step III).

Further, when the manual priority switch (26) is operated, the ground contact portions of the left and right traveling devices (6), (6) can be operated arbitrarily. That is, the manual priority switch (26) is a free swing type, as shown in FIG. When the switch (26) is operated to the left, the left and right traveling devices (6) and (6) can be simultaneously moved up and down in the opposite directions by the "lower left output" and "upper right output", and the automatic tilting is performed. It can be tilted further to the left in preference to corner control. When the switch (26) is operated to the right side, the traveling machine body (7) is further tilted to the right by "lower right output" and "upper left output".
Further, when the switch (26) is operated to the front side, the left and right traveling devices (6), (6) are driven by "lower right output" and "lower left output".
Simultaneously and upwardly actuate the grounded parts of When the switch (26) is operated to the rear side, "upper right output" and "upper left output" are output, and the ground contact portions of the left and right traveling devices (6) and (6) are simultaneously operated in the descending direction.

[Another embodiment]

The rolling control means (28) may include only the automatic tilt angle control means (4).

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

The drawings show an embodiment of a combine according to the present invention, FIG. 1 is a control block diagram, FIG. 2 is an overall side view, FIG. 3 is a rear view showing an inclined state of the combine, and FIG. 4 is an overall flow chart. is there. (6) …… Traveling device, (7) …… Travel vehicle, (19) ……
Lifting drive means, (23) ...... Inclination angle detection means, (25b) ...
… Lower limit detection means, (28) …… Rolling control means.

Claims (1)

[Claims] 1. A pair of left and right traveling devices (6) is provided on a traveling machine body (7), and a grounding portion of the pair of left and right traveling devices (6) is vertically moved with respect to the traveling machine body (7). Lifting drive means (19) and inclination angle detection means (2) for detecting the horizontal inclination angle of the traveling machine body (7) with respect to the horizontal reference plane.
3) and the information of the inclination angle detection means (23),
A combine provided with rolling control means (28) for operating the elevating and lowering drive means (19) so as to maintain the left and right inclination angles of the traveling body (7) at a set inclination angle. A lower limit detecting means (25b) for detecting the limit position of the traveling device (6) to contact with the vehicle body at the ground contact portion is provided, and the rolling control means (28) controls the horizontal inclination angle of the traveling vehicle body (7). When the set tilt angle is not maintained, the ground contact portion on the side that is located on the rising side with respect to the set tilt angle is operated to lift the aircraft,
Further, the lower limit detection means (25b) is located on the descending side with respect to the set inclination angle as the ascending end position with respect to the aircraft on the grounding site located on the ascending side is detected. If the left and right tilt angles of the traveling body (7) are maintained at the set tilt angle, the lower limit detection means (25b) detects whether the ground contact part of A combine that is configured to raise both the left and right ground contact parts to the aircraft until the aircraft upper limit position is detected.