JPH0728066Y2 - Left and right attitude control device of combine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Use The present invention relates to a combine left and right posture control device.

(B) Conventional Technology Japanese Patent Application Laid-Open No. 61-1586 relates to agricultural machines such as combine harvesters.
As can be seen in the publication, a ground work machine is installed on a chassis having a traveling device in order to vertically expand and contract the relative relationship with the chassis via a hydraulic cylinder device, and the ground work machine is tilted. A work machine configured to be capable of rolling control based on a detection result of a detection device is disclosed.

Further, as disclosed in Japanese Utility Model Laid-Open No. 61-129681, in an agricultural machine in which a working machine is mounted on a machine base having a traveling device at the bottom, the machine base is connected to the traveling device so as to be tiltable left and right. A hydraulic cylinder is interposed between them, an inclination detector for detecting the amount of tilting is provided on the machine base, and a control valve for the hydraulic cylinder, a main switch, a manual switch, a relay, etc. are inserted in the horizontal holding control circuit, Disclosed is a combine fuselage horizontal maintenance circuit in which a horizontal correction circuit for outputting the detection result of the tilt detector is connected to the OFF side of the main switch.

All of the above are set in advance by providing an elevating device such as a hydraulic cylinder between the machine and the traveling device, and controlling the operation of the elevating device based on the output of a tilt sensor that detects the left and right tilt of the machine. It is configured to hold the body in a left-right tilted posture.

(C) Problems to be Solved by the Invention In the inventions and the inventions described in the above publications, however, when the aircraft is moving straight, even if the aircraft can be controlled to be horizontal or parallel to the ground, the aircraft turns. While traveling, no measures are taken against the disturbance of the sensor output due to the centrifugal force that accompanies the turning traveling. Therefore, there is a drawback that the posture of the ground work machine is disturbed during the turning traveling.

(D) Means for Solving the Problems In the present invention, the lower left and right sides of the machine body are provided with vertically movable crawlers, and a tilt sensor for detecting the left and right tilt of the machine body is provided. In a combine that is configured to vertically move the crawler to control the attitude of the aircraft to a preset left-right tilt angle, the above-mentioned crawler lifting operation is stopped while the aircraft is turning. It is intended to provide a lateral attitude control device.

(E) Action / Effect According to the present invention, when the machine body is moving straight, the tilt sensor detects the left and right tilt of the machine body, and the crawler is moved up and down based on the detection value of the tilt sensor, whereby the machine body tilts left and right. Can be automatically held in a preset left-right inclination posture.

Then, when the aircraft is turning, the output of the tilt sensor is disturbed by the influence of centrifugal force, so that the disturbed output tends to disturb the left and right tilt posture of the aircraft, but when the aircraft is turning, Since the lifting and lowering operation of the crawler is stopped, the body is held in the preset left-right tilted posture that has been controlled and held until then, and thus the posture disorder can be prevented.

After that, when the turning traveling is stopped and the vehicle goes straight ahead, the control of the raising and lowering operation of the crawler is automatically started based on the detection value of the inclination sensor, and the aircraft can be held in the preset left and right inclination posture.

(F) Embodiment An embodiment of the present invention will be described in detail with reference to the drawings.
In FIG. 1, (A) shows a combine, (1) is a traveling machine body, and a pair of left and right crawlers (2) and (2) that are moved up and down relative to the traveling machine body (1) are disposed below.

At the front end of the body frame (3) of the traveling body (1), a mowing device (5) is mounted so as to be able to move up and down, and this mowing device (5) has a plurality of grass bodies (6) at the bottom and then A cutting blade device (7) is provided on one side, a grain culm raising device (8) is provided on the front surface, and a grain culm transporting device (9) is provided behind it.

A threshing device (11) with a feed chain (10) is provided on the left side of the upper surface of the body frame (3), and a paddy tank (12) for accumulating the threshed grains is provided on the right side, and a driver's seat ( 13) is provided.

In addition, the motive power from the prime mover (E) is transmitted to the traveling machine body (1) through the mission case (14) to the mowing device (5) and the threshing device (11), and is rotated to the machine body frame (3). The crawler tracks (17) and (17) of the left and right crawlers (2) and (2) are driven via the left and right sprockets (16) and (16) that are freely supported.

The left and right crawlers (2) and (2) each have a front and rear long track frame (18) having a hollow rectangular cross section, and a biasing means (1) such as a coil spring continuously provided at the rear end of each track frame (18).
Tension sprocket (2) biased rearward through 9)
0) and a plurality of idle wheels (22) rotatably supported on the lower surface of each track frame (18).

Incidentally, (26) and (27) are attached to the body frame (3) by the first and second rolling wheels.

Also, as shown in FIG. 2, a pair of left and right longitudinal chassis (30) are provided below the body frame (3), and brackets (31) (31) are provided at appropriate positions in the front and rear of each chassis (30). The support shafts (33) (33) are mounted on the shaft, and the middle parts of the front and rear bell cranks (32) (32) are rotatably fitted onto the respective support shafts (33) (33) so that the bell cranks (32) The rear end of the (32) is rotatably attached to the support shafts (35) and (35) projecting from the inside of the track frame (18), and the chassis (30) and the front and rear bell cranks (32) are attached. (32) and the track frame (18) form a parallel link mechanism, and the bell crank (3
2) The upper ends of (32) are connected by a connecting rod (34), and a hydraulic cylinder (36) is provided between the upper end of one of the bell cranks (32) and the machine frame (3). The combine (A) can be tilted to the left and right by independently raising and lowering the left and right track frames (18) by the expansion and contraction of (36).

Also, as shown in FIG. 3, the left and right crawlers (2)
A side clutch (39) (39) and a side brake (40) are provided between (2) and the mission case (14), respectively.
(40) is interposed and the power transmission to one crawler (2) is turned off and the crawler (2) is braked by the operation of the steering lever (41) provided in the operation part. Then, the combine (A) is turned in that direction.

A switch (S1) for detecting a steering operation is provided at the base end of the steering lever (41).

FIG. 4 shows the tilt sensor (S) arranged on the machine body frame (3). The tilt sensor (S) is provided inside the case fixed to the machine body frame (3) and has a shaft (43) in the front-rear direction.
Is installed, and the apex of a substantially fan-shaped plate-like pendulum (44) is rotatably supported on the same axis (43), and the projector (4
6) and the light receiver (47) are arranged, the light from the light projector (46) passing through the opening (45) projecting from the same pendulum (44) is received by the light receiver (47), and the light is received. Is configured to be converted into a voltage and output to the control device (C) shown in FIG.
The opening (45) is formed in a substantially triangular shape so that the tilt angle of the pendulum (44) and the output voltage of the light receiver (47) correspond linearly as shown in FIG.

As shown in FIG. 6, the control unit (C) includes a microprocessor (MPU), an input interface (I), an output interface (O), and a memory (M which stores the control program shown in the flowchart of FIG. ) And the input interface (I) includes an inclination sensor (S), a steering operation detection switch (S1) provided at the base end of the steering lever (41), and a harvesting device (5). ) A height sensor (S2) for detecting the ground clearance, a switch (S3) for detecting threshing operation provided at the base end of the threshing clutch lever, and an inclination angle setting device for setting the inclination angle of the combine (A) ( S4)
And the ground clearance setting device (S5) for setting the ground clearance of the reaper (5) are connected, and the output interface (O) controls the expansion / contraction operation of the left and right hydraulic cylinders (36) (36). Solenoid (51) for electromagnetic hydraulic control valve (50) (50)
(51) is connected. Incidentally, (52) is a hydraulic pump connected to the prime mover (E).

Next, the operation of the left / right posture control device of the present invention will be described based on the flowchart of FIG.

When the combine (A) is started, the control program is started (100), and it is judged from the output of the steering operation detecting switch (S1) whether the steering operation is being performed (101), If the same operation is not performed (102), the output of the height sensor (S2) is compared with the set value of the ground height setting device (S5) (103), and if the set value is larger (104) ,
Whether or not the threshing operation is being performed is judged from the output of the switch (S3) for detecting the threshing operation (105), and if the threshing operation is being performed (106), the set value of the tilt angle setting device (S4) To the microprocessor (MPU) (107), then
The output of the tilt sensor (S) is a microprocessor (MPU)
(108), targeting the set value of the tilt angle setter (S4), feedback control of the left and right tilt angles is performed (109), and the process returns to the step of (101) (110) to repeat the loop.

If a steering operation is performed during such control operation, (10
This can be judged from the output of the steering operation detection switch (S1) in the step 1) (111), and the subsequent step, that is, the same step (101) without performing the control operation of the left and right inclination. Returning to the beginning, we will monitor the steering operation.

Also, when the ground clearance of the reaper (5) is higher than the set value and when the threshing operation is not performed (112) (113),
The process returns to the beginning of the step (101) without performing the control operation of the left-right inclination.

As described above, when the steering operation is performed and the combine (A) is turning, the control operation of the left and right tilt is not performed. Therefore, the tilt control by the influence of the centrifugal force accompanying the turning of the machine body is performed. A malfunction can be prevented and the left and right inclination of the combine can be maintained at the set inclination angle.

In the above embodiment, the one steering lever (41) is used to control the left and right steering of the machine body.However, the two steering levers arranged on the left and right are used for the left and right steering of the machine body. Also for those that are operated, by providing a switch for steering operation detection at the base end of each steering lever and connecting each switch in parallel to the control device, the same effect as above can be obtained. be able to.

[Brief description of drawings]

FIG. 1 is an overall side view of a combine having a left / right attitude control device according to the present invention, FIG. 2 is a sectional view taken along the line I--I of FIG. 1, and FIG. 3 is a power system diagram showing a configuration of a side clutch and a side brake. FIG. 4 is an explanatory perspective view of the tilt sensor, FIG. 5 is a graph showing the output characteristics of the tilt sensor, FIG. 6 is a block diagram showing the configuration of the control device, and FIG. 7 is a flow chart of the control program. (A): Combine (S): Inclination sensor (2): Crawler

Claims (1)

[Scope of utility model registration request] Claims: 1. A crawler (2) (2) that can move up and down is provided on the lower left and right sides of the machine body, and a tilt sensor (S) for detecting the lateral tilt of the machine body is provided, and the detection value of the tilt sensor (S). Based on the above, in the combine (A) configured to vertically move the crawlers (2) and (2) to control the attitude of the machine body to a preset left and right inclination angle, the above-mentioned crawler (2) ( A combined left and right posture control device characterized in that the lifting operation of 2) is stopped.