JPH10215644A - Rolling controller for combine harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent the generation of the failures such as wearing and damages, etc., of a device due to the fact that the height to the ground of a machine body gets too low, a machine body bottom part is brought into contact with a ground surface and the large amount of mud or the like is stuck to a reaping part by setting the target height to the ground of a traveling machine body at an appropriate height on an upper side from a lower limit position corresponding to the work conditions of ill-drained paddy fields and crops, etc. SOLUTION: The target height to the ground of the machine body in the state of maintaining the left and right inclination angle to a horizontal reference surface of the traveling machine body detected in an inclination angle detection means 23 at a set inclination angle is changed and adjusted by a target height setting means 102 with the entire range from the upper limit to lower limit of the elevating and lowering operation range of the respective ground parts of a pair of left and right traveling devices as an adjustment object. The respective left and right ground parts are respectively elevated and lowered to the traveling machine body in an elevating and lowering driving means 19 so as to be at respective adjustment positions in the entire elevating and lowering operation range by the elevating and lowering driving means 19 and the height to the ground of the traveling machine body is controlled to the target height to the ground.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lifting drive means for individually lifting and lowering a ground contact portion of a pair of right and left traveling devices with respect to a traveling body, and an inclination for detecting a lateral inclination angle of the traveling body with respect to a horizontal reference plane. Angle detecting means, based on the information of the tilt angle detecting means, to maintain the left and right tilt angle of the traveling body at a set tilt angle, and to set the ground height of the traveling body at the set tilt angle to the target ground The present invention relates to a combine rolling control device provided with elevation control means for operating the elevation drive means so as to be at a height.

[0002]

2. Description of the Related Art In a rolling control device of the above-described combine, a lower limit reference for bringing the ground contact portions of the left and right traveling devices closer to the traveling vehicle side while maintaining the right and left inclination angles of the traveling vehicle at a set inclination angle (for example, a horizontal state). The control is performed by switching between a mode and an upper limit reference mode in which the ground contact portion is separated from the traveling body.

[0003] Incidentally, as shown in FIG. 12, when cutting and running along each work process L in the field F, the mode is switched to the lower limit reference mode to lower the body height to allow the vehicle to run stably.
When traveling on the headland portion F1 in order to move between the strokes L, the mode is switched to the upper limit reference mode to increase the body height to avoid inconvenience such as contact of the bottom of the body with the ground during turning ( For example, see JP-A-8-228561.

[0004]

However, in the case of rice, for example, the field scene is small in unevenness due to ridges and the like in soybeans, while the field scene is small. Therefore, when soybeans are cut, the same target as when cutting rice is cut. If the height of the aircraft is adjusted to the ground height, the bottom of the aircraft will contact the ground, and a large amount of mud will adhere to the mowing parts (especially the mowing blades). There was a risk of failure.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to solve the above-mentioned disadvantages of the prior art by setting a target ground height of a traveling body in accordance with working conditions such as a crop. An appropriate height is set so that the rolling control of the combine can be favorably performed.

[0006]

According to the first aspect of the present invention, the target ground height of the traveling body in a state in which the lateral inclination angle of the traveling body with respect to the horizontal reference plane is maintained at the set inclination angle is a pair of left and right traveling devices. The traveling aircraft is adjusted so that the entire range from the upper limit to the lower limit of the lifting operation range of each grounding part is adjusted and the left and right grounding parts are at the above adjustment positions in the entire range of the lifting operation range. In this state, the vertical height of the traveling body is controlled to the target height while maintaining the horizontal inclination angle of the traveling body at the set inclination angle.

Accordingly, by setting the target ground height of the traveling body to an appropriate height in accordance with work conditions, the ground height of the body becomes too low, so that the bottom of the body comes into contact with the ground or cuts. Good rolling control can be performed by avoiding the possibility that a large amount of mud or the like adheres to the portion (particularly the cutting blade) and causes problems such as wear and damage.

[0008] According to the second aspect, in the first aspect, the target ground height of the traveling body is adjusted as a different position depending on the type of the crop.

Therefore, for example, in rice, the field scene has little unevenness and is almost flat, whereas in soybean, the degree of unevenness is large due to ridges and the like, so that when soybeans are cut, compared to when rice is cut. By adjusting the target ground height of the aircraft to a higher position, problems such as wear and damage due to contact of the bottom of the aircraft with the ground can be more appropriately avoided. Means can be obtained.

According to a third aspect of the present invention, in each of the first and second aspects, each of the up-and-down operation amounts in the right and left of the up-and-down drive means for ascending and descending each of the right and left grounding portions of the left and right traveling devices is detected. The elevation drive means is operated such that each elevation operation amount becomes each target operation amount determined corresponding to the target ground height.

Therefore, for example, when detecting the vertical position of each of the right and left grounding parts with respect to the traveling body and controlling the vertical position to the target position, the means for detecting the vertical position of the grounding part is close to the field scene and may be muddy or the like. It is susceptible to the effects of adhesion, vibration, etc., and it is more complicated to secure dust protection. By performing the control, simplification of the device configuration and high reliability can be realized, and the preferred means of the first or second aspect can be obtained.

According to a fourth aspect of the present invention, in any one of the first to third aspects, a mowing device for mowing the stem and stem introduced from the front end side is provided at a rear side portion so as to swing up and down with respect to the traveling body. The arbitrarily provided reaping unit is moved up and down with respect to the traveling body so that the ground height thereof becomes the target height.

Therefore, when the target ground height of the traveling body is adjusted to a high position, the swing angle of the reaping unit with respect to the ground increases, that is, the reaping unit is in a standing posture with respect to the ground, and is located at the rear side position. Since the height of the provided mowing device (cutting blade) from the ground is increased, for example, even under conditions where the unevenness of the field scene is large or mud scatters due to running, etc.
Inconveniences such as abrasion due to adhesion of mud to the reaper can be effectively avoided, and the preferable means according to any one of claims 1 to 3 can be obtained.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, a case where the present invention is applied to a combine with all culms will be described with reference to the drawings.
As shown in FIG. 1, the whole-culm-insertable combine includes a traveling machine V equipped with a pair of left and right crawler traveling devices 1, a cabin-type cockpit 2, a threshing unit 3, a tank T for storing grain, and the like. A mowing unit 4 is provided in front of the traveling machine body V so as to be able to swing up and down by a mowing cylinder 8 around a horizontal axis P1 along the machine body width direction. Here, the cutting elevating cylinder 8 corresponds to a cutting elevating means for raising and lowering the cutting unit 4 with respect to the traveling machine V.

The cutting section 4 includes a weeding tool 45 provided at the tip end,
A reel 41 for scraping the planted grain culm of the field to the rear side, a clipper-type cutting blade 42 as a cutting device provided at the rear side and cutting the stem culm introduced from the tip side, receiving the harvested grain culm to the rear. The auger 43 to send out and the auger 43
The conveyor comprises a conveyor 44 and the like that lifts and transports the cereal stems sent out from the threshing unit 3 to the threshing unit 3.

Behind the cutting blade 42, a grounding-type sensor for detecting the ground height of the cutting unit 4 is provided. Specifically, as shown in FIG. The provided plate member 5 and a cutting height sensor 6 as a cutting height detecting means including a potentiometer are provided. Plate member 5
The front part is pivotally supported around the horizontal axis P2 so as to be freely rotatable, and the rear part swings up and down in contact with the ground. The cutting height sensor 6 rotates the plate member 5 around the horizontal axis P2. Convert the moving angle to a resistance value. That is, the rotation angle of the plate member 5, that is, the ground height of the horizontal axis P <b> 2 (corresponding to the ground height of the cutting unit 4) can be detected from the resistance value of the cutting height sensor 6.
In FIG. 1, reference numeral 49 denotes a hydraulic cylinder that lifts and holds the plate member 5 when it is not necessary to detect the ground height.

The threshing unit 3 includes a handling room A having a handling drum 34 that rotates about the longitudinal axis of the traveling machine body V and a receiving net 35 below the handling drum 34, and a grain from the treated material leaking from the handling room A. It consists of a sorting room B for sorting and collecting the grains. On the inner surface of the ceiling cover 36 of the handling room A, a contact-type grain stalk sensor S1 for detecting whether or not the grain stalk has been supplied into the handling room A, and to promote or suppress the transfer of the processed material to the rear. In the sorting chamber B, a rocking sorter plate for separating and sorting the grains and the straw wastes, a turtle which generates a wind for blowing off the straw wastes, and the like, are provided. A collecting device or the like for collecting kernels is provided. The collected grains are transferred to and stored in the tank T.

As shown in FIG. 1, a television camera CA1 for imaging the reaper 4 from above, a television camera CA2 for imaging the inside of the tank T, and a television camera CA3 for imaging the rear side of the machine are provided. Each of the above-mentioned television cameras CA1, CA2, C
TV monitor MON that switches and projects A3 images
Is set. It should be noted that, based on the detection information of the grain culm sensor S1, the camera is switched to the camera CA1 during the mowing travel, and is switched to the camera CA2 during the headland running after the mowing travel is completed. Based on the information, the vehicle is switched to the camera CA3 during reverse travel. This allows the driver in the cabin-type cockpit 2 to easily confirm by the television monitor MON the state of the reaper 4 at the lower front, which is difficult to visually confirm, and the inside of the tank T and the rear side of the aircraft, which cannot be visually confirmed. be able to.

The traveling body V of each of the left and right crawler traveling devices 1
The mounting structure to the device will be described. As shown in FIGS. 2 and 3,
A horizontal frame 10 is connected to a lower part of a main frame 9 having a front-rear posture, which constitutes the traveling body V, and left and right track frames 11 are connected and fixed by the horizontal frame 10. A drive sprocket 12 and a tension sprocket 13 are attached and fixed to the track frame 11 at each of the front and rear ends, and a pair of front and rear movable frames integrally connected by pivotally supporting a plurality of idler wheels 14. 15A,
15B is mounted so as to be able to move up and down relatively. Idler 14
At an intermediate position of the group, an idler wheel 16 is supported by the track frame 11 so as to be able to swing up and down.

The front and rear movable frames 15A and 15B have
The lower ends of front and rear bell cranks 17A and 17B pivotally supported on the track frame 11 are attached to the track frame 11, respectively, the front and rear bell cranks 17A and 17B are connected by connecting rods 18, and the upper ends of the rear bell cranks 17B. Are connected to hydraulic rolling lifting cylinders 19 as lifting driving means for individually lifting and lowering the ground contacting portions of the left and right crawler traveling devices 1 with respect to the traveling machine body V. Thus, the front and rear movable frames 15A, 15B are connected. Are moved up and down by the same amount in the same direction, so that the contact portions of the left and right crawler traveling devices 1 can be individually moved up and down with respect to the traveling machine body V. As shown in FIG. 2, a stroke sensor 20 for detecting the amount of extension of each of the right and left rolling elevating cylinders 19 is provided on each of the right and left sides. It corresponds to a lifting amount detecting means for detecting each lifting operation amount on each of the right and left sides of the rolling lifting cylinder 19 for raising and lowering the part.

As shown in FIG. 5, a control device 21 using a microcomputer is provided.
Weight information type inclination sensor 23 and left and right as inclination angle detecting means for detecting the detection information of grain culm sensor S1, the cutting height detection information hs of cutting height sensor 6, and the right and left inclination angle with respect to the horizontal reference plane of traveling machine body V And the detection information of each stroke sensor 20 are input. A threshing switch 3 for detecting an operation state of a manual threshing lever for operating the threshing unit 3
2 and a crop switch SW for selecting one of the three crop conditions of rice, wheat, and soybeans, and these signals are also input to the control device 21.

As shown in FIG. 6, a volume-type tilt angle setting device 28 for setting the horizontal tilt angle of the traveling body V with respect to the horizontal reference plane is provided on an operation panel of the cockpit. A horizontal auto switch 26 to be selected, a volume-type cutting height setting device 25 for setting a target value H0 of the cutting height, and a cutting height auto switch 27 for selecting ON / OFF of the operation of the cutting height control are provided. Information such as switches is also input to the control device 21.

Further, when the operation of the horizontal control is off, a horizontal manual switch 31 for manually operating the aircraft horizontally.
And a cutting and raising / lowering switch 33 for manually raising and lowering the cutting unit 4 when the operation of the cutting height control is off, and each operation information from the horizontal manual switch 31 and the cutting and raising / lowering switch 33 is transmitted to the control unit 21. Is being entered. The operation information of the horizontal manual switch 31 includes information of an upper right operation of raising the right of the traveling vehicle V, an upper left operation of raising the left, a lowering operation of lowering the traveling vehicle V to the lowermost position, and an raising operation of raising the traveling vehicle V to the uppermost position. Consists of

On the other hand, a drive signal for the control valve 29 for operating the rolling elevating cylinder 19 and a driving signal for the control valve 30 for operating the mowing elevating cylinder 8 are output from the control device 21. .

Using the control device 21, the inclination sensor 2
3, the left and right inclination angles of the traveling machine body V are maintained at the set inclination angles (set angles of the inclination angle setting device 28), and
Lift control means 101 for operating the rolling lift cylinder 19 is configured so that the ground height of the traveling machine body V at the set inclination angle becomes the target ground height.

Further, the traveling vehicle V
The target height adjustment means 102 is configured such that the target height above the ground can be changed and adjusted over the entire range from the upper limit to the lower limit of the lifting operation range of each ground contact portion of the left and right crawler traveling devices 1. Then, the target height adjusting means 102
Is configured such that the target ground height can be adjusted to different positions depending on the type of harvested crop such as rice, wheat, soybeans, and the like. Specifically, based on the input information of the crop switch SW, the target ground height is adjusted so as to increase in the order of rice, wheat, and soy. It should be noted that, even if the crops are the same, the target ground height is set higher when traveling on the headland portion F1 shown in FIG.

Therefore, the lifting control means 101 operates the rolling lifting cylinder 19 in a direction to eliminate the difference (ie, declination) between the value detected by the tilt sensor 23 and the value set by the tilt angle setting device 28, thereby driving the vehicle. While maintaining the left-right inclination angle of the machine body V at a set inclination angle (for example, a horizontal state), based on the information of the stroke sensor 20, each of the lifting operation amounts of the right and left rolling elevator cylinders 19 is equal to the target ground height. The rolling elevating cylinder 19 is operated so that each target operation amount (specifically, the target extension amount) determined in accordance with the above is obtained.

For example, when the traveling machine body V is tilted to the right to set the declination to "0", the right and left rolling elevators 19 are moved so that the right and left rolling elevating cylinders 19 have the target operating amounts. The left and right inclination angle is set to the set inclination angle by contracting the elevating cylinder 19 to lower the right crawler traveling device 1 or extending the left rolling elevating cylinder 19 to elevate the left crawler traveling device 1. Control.
When the traveling body V is tilted to the left, an operation is performed in which the left-right relationship is reversed with respect to the above case.

Next, the horizontal control of the traveling body V will be described with reference to the flowcharts of FIGS. First, the horizontal auto switch 26 and the threshing switch 32
And if either switch is off,
The flow returns to the main flow (not shown) without performing the control. In this state, a manual posture changing operation based on input information of the horizontal manual switch 31 is possible.

When both switches 26 and 32 are on, horizontal control is performed at the target ground height. That is, the input of the set angle by the tilt angle setting device 28 and the input of the tilt sensor 23
The inclination of the left and right is detected by the following formula, and the difference between the set angle and the detected angle, that is, the declination (in the case of +, the traveling body V is inclined right, and in the case of-, the traveling body V is inclined left. The declination can be made zero), and it is determined whether the traveling body V is to be tilted to the right or to the left according to the magnitude of the declination and the signs (+) and (−). , C.

In the flow a (FIG. 8) in which the declination is (+), the traveling body V must be tilted to the right, so that the extension amounts of the left and right rolling lift cylinders 19 are both larger than the target operation amount. And the right lifting cylinder 1 for rolling
9 is greater than the target operation amount and the extension amount of the left rolling elevating cylinder 19 is equal to the target operation amount.
The operation of the left rolling elevating cylinder 19 is stopped, and the right rolling elevating cylinder 19 is contracted.
However, when the extension amount of the right rolling elevator cylinder 19 is equal to or smaller than the target operation amount, and when the extension amount of the right rolling elevator cylinder 19 is larger than the target operation amount and the left rolling elevator cylinder is extended. When the extension amount of the cylinder 19 is smaller than the target operation amount, the operation of the right lifting cylinder 19 is stopped, and the left rolling cylinder 19 is extended.

In the flow b (FIG. 9) when the declination is (-), it is necessary to incline the traveling body V to the left.
And the right and left are reversed.

In the flow c (FIG. 10) in the case where the magnitude of the declination is zero (same as the set angle), when both the extension amounts of the left and right rolling elevating cylinders 19 are larger than the target operation amounts, The rolling lift cylinder 19 is contracted by the same amount of operation, and when the extension amount of the left or right rolling lift cylinder 19 becomes equal to the target operation amount, the operation of the left and right rolling lift cylinder 19 is stopped. When the extension amount of one of the left and right rolling elevator cylinders 19 is equal to the target operation amount, and the extension amount of the other rolling elevator cylinder 19 is smaller than the target operation amount, the other rolling member is used. The left and right rolling lift cylinders 19 are extended by the same operation amount until the extension amount of the lift cylinder 19 reaches the target operation amount.

Further, the control device 21 is used to operate the cutting elevation cylinder 8 based on the detection information hs of the cutting height sensor 6 so that the ground height of the cutting unit 4 becomes the target height H0. The control means 103 is configured. In the actual processing, a predetermined number of data obtained by sampling the detection information hs at predetermined time intervals is averaged to obtain a cut height detection value H0, and the cut height detection value H0 is used for cutting height control.

Next, the cutting height control will be described with reference to the flowchart of FIG. First, the states of the horizontal auto switch 26 and the threshing switch 32 are checked. If either of the switches is off, the process returns to the main flow (not shown) without performing control. In this state, a manual elevating operation based on the input information of the mowing elevating switch 33 is possible. When both of the switches are on, a cut height detection value Hs is input, and the cut height detection value Hs and the target value H0 are input.
If the difference is within the dead zone, the process directly returns to the main flow, and if the detected cutting height Hs is smaller than the target value H0, the cutting height is lower than the appropriate height, so that the cutting unit 4 is raised, If the cutting height detection value Hs is larger than the target value H0, the cutting height is higher than the appropriate height, and the cutting unit 4 is lowered.

[Alternative Embodiment] In the above embodiment, the pair of left and right traveling devices 1 are constituted by crawler traveling devices. However, the invention is not limited to this. For example, wheel-type traveling devices may be used.

In the above embodiment, the raising / lowering driving means 19 and the mowing / raising / lowering means 8 are constituted by hydraulic cylinders. However, the invention is not limited to this. For example, an electric motor with a speed reduction mechanism may be used.

In the above embodiment, the tilt angle detecting means is constituted by the weight type tilt sensor 23. However, the present invention is not limited to the weight type tilt sensor, and various tilt angle detection sensors can be used.

In the above embodiment, the lifting amount detecting means is constituted by the stroke sensor 20, but it may be replaced by a potentiometer or the like.

In the above embodiment, the cutting height detecting means 6 is constituted by a grounding type sensor, but is not limited to this.
A non-contact type sensor such as an ultrasonic type can be used.

In the above embodiment, the types of cut crops (rice,
(Wheat, soybeans, etc.), so that the target ground height of the traveling machine V can be adjusted as a different position. However, the position can be adjusted to a different position depending on conditions other than crops, for example, the condition of a field scene such as a wet field or a dry field. You may do so. Further, a manual volume or the like for arbitrarily setting the target ground height may be provided on the operation panel of the cockpit, and the target ground height may be changed and adjusted according to the input voltage of this volume.

The present invention is not limited to the whole culm type combine, but can also be applied to a self-removable combine and the like.

[Brief description of the drawings]

FIG. 1 is a side view showing an overall configuration of a combine.

FIG. 2 is a side view showing the lifting drive means of the traveling device.

FIG. 3 is a vertical cross-sectional rear view showing a lifting drive unit of the traveling device.

FIG. 4 is a plan view showing a cutting height detecting means.

FIG. 5 is a block diagram showing a control configuration.

FIG. 6 is a front view showing an operation panel.

FIG. 7 is a flowchart showing a control operation.

FIG. 8 is a flowchart showing a control operation.

FIG. 9 is a flowchart showing a control operation.

FIG. 10 is a flowchart showing a control operation.

FIG. 11 is a flowchart showing a control operation.

FIG. 12 is a plan view showing a harvesting traveling state of a combine on a field.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Running device 4 Cutting part 6 Cutting height detecting means 8 Cutting raising / lowering means 19 Lifting / driving means 20 Lifting / lowering amount detecting means 23 Inclination angle detecting means 42 Cutting equipment 101 Lifting / lowering control means 102 Target height adjusting means 103 Cutting height controlling means V running body

Claims (4)

[Claims] 1. A lifting drive means for individually raising and lowering a ground contact portion of a pair of left and right traveling devices with respect to a traveling body, an inclination angle detecting means for detecting a lateral inclination angle of the traveling body with respect to a horizontal reference plane, Based on the information of the inclination angle detecting means,
Elevating control for maintaining the left and right inclination angles of the traveling body at a set inclination angle, and operating the elevating drive means such that the ground height of the traveling body at the set inclination angle becomes the target ground height. Means for controlling rolling of a combine, wherein the target height above the ground is changeable and adjustable, with the entire range from the upper limit to the lower limit of the lifting operation range of each of the grounding portions being adjustable. A rolling control device for a combine provided with a means. 2. The combine rolling control device according to claim 1, wherein the target height adjusting means is configured to be able to adjust the target ground height as a different position depending on the type of crop. 3. An up-and-down amount detecting means for detecting an up-and-down operation amount in each of right and left of the up-and-down driving means for ascending and descending each of the ground portions of the left and right traveling devices, On the basis of the information of the amount detection means, the lifting drive means is operated such that each lifting movement amount on each of the right and left of the lifting drive means becomes each target operation amount determined corresponding to the target ground height. 3. The combine rolling control device according to claim 1, wherein 4. A reaping unit provided for swinging up and down with respect to the traveling body, a reaping device for reaping stems and stems introduced from a front end side is provided at a rear side portion, and the reaping unit is provided with respect to the traveling body. Mowing elevating means for raising and lowering, mowing height detecting means for detecting the ground height of the mowing part, and the ground height of the mowing part becomes the target height based on the detection information of the mowing height detecting means. Cutting height control means for operating the cutting lifting means.
The rolling control device for a combine according to any one of claims 1 to 4.