JPH11346537A - Traveling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a combine harvester having no longitudinally inclining means but a crosswise inclining means capable of appropriately automatically controlling its own height. SOLUTION: This combine harvester so operates that, when it enters a paddy field from a dry land to immediately lower the front section and a longitudinal inclination detector detects the chassis 2 to descend forward (to raise the rear section), a crosswise inclining means controls the upheaval of the body, when it often descends backward (raises the front section) while traveling on the paddy field, likewise it controls the upheaval of the body, and when the detected value of the longitudinal inclination detector is zero (or a small value), the harvester is judged to horizontally travel on the dry land and the set height of the vehicle is reduced and the body is lowered. The harvester can surely detects a paddy field and keep the height of the vehicle higher, which improves the traveling performance on a paddy field and the operability because of automatically controlling the height. Also, on the dry land, the harvester prevents its height from being positioned higher, never operates while setting its height higher and prevents a trouble of resulting in rugged fields when harvested.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling device such as an agricultural combine equipped with a crawler as traveling means.

[0002]

2. Description of the Related Art FIG. 1 is a side view of a combine for harvesting cereals, FIG. 2 is a side view showing details of a traveling device, and FIG. 3 is a circuit diagram of a control device. A traveling device 3 having a pair of left and right traveling crawlers 14 is disposed below the vehicle body 2 of the combine 1, and a left / right inclining means 4 for lifting the vehicle body 2 is interposed between the vehicle body 2 and the traveling device 3.

A cutting device 6 having a weeding tool 7 and a cutting blade 8 is provided in front of the body frame 2 of the combine 1 to cut culms to be planted in a field, aligned and handed over to a feeding and conveying device. Threshing device 1 taking over to feed chain 10
1 and threshing and sorting in a threshing device 11 to temporarily store grains in a Glen tank 12. The weeding tool 7, the cutting blade 8 and the like of the reaper 6 are mounted on the reaping frame 9 so that they can be transmitted and move up and down at the same time.

[0004] The combine 1 is equipped with a traveling crawler 14 having a large ground contact area, so that the harvesting operation can be performed while traveling on uneven terrain or a soft wetland. When the entire body sinks to hinder the reaping work, or only one side sinks, the posture of the combine 1 tilts right and left, and the operation seat 13
Not only is it uncomfortable for the operator who rides on the boat, and this is not preferable in terms of safety, but also has an adverse effect on the grain sorting operation in the threshing device 11. Therefore, the operator manually operates the vehicle height operation switches 102 and 103 (see FIG. 3) of the cockpit 13 to properly maintain the ground height of the vehicle body 2 of the combine 1 and to set the right-up / left-up switch 105, 106
To operate the left-right tilting means 4 and combine 1
I am trying to correct the inclination.

Further, in the combine 1 provided with the right and left tilting means 4, the control means 100 corrects the right and left tilt of the combine 1 in accordance with the output of the left and right horizontal sensor 35 and automatically controls the attitude horizontally. I have.

[0006]

The right and left inclination of the combine 1 having the right and left inclination means 4 is automatically controlled so that the horizontal direction of the vehicle body 2 of the combine 1 can be maintained during running on rough terrain, mowing in wet fields, and the like. Thus, it is possible to remove the discomfort of the operator, improve the safety, and maintain the threshing and sorting performance of the threshing device 11 in a good condition.

However, in the case of the combine 1 having only the right-and-left inclining means 4 and not having the fore-and-aft inclining means, there is no suitable means for detecting the amount of settlement or the vehicle height with respect to the settlement of the combine 1. It was difficult to automatically control the height of the combine 1. Therefore, since the operator manually controls the height of the combine 1, the vehicle sometimes enters a wet field and travels with the vehicle body sinking. When the vehicle is traveling while sinking, for example, the reaping device at the tip of the combine may sink into the wet field.

Further, when the vehicle height is raised manually during the dry field running and the mowing operation is performed as it is, a high body 2
It is necessary to lean the reaping device 6 downward to mow, the angle of the cutting blade 8 is no longer orthogonal to the upright grain culm, the grain stalk is difficult to cut, and excessive force is applied to the cutting blade 8,
There is a problem that the life of the cutting blade 8 is shortened, and the cutting marks are uneven and deteriorate.

An object of the present invention is to solve such a problem of the prior art.
It is an object of the present invention to provide a crawler-type traveling device that does not include the front-rear inclination means and that can appropriately and automatically control the vehicle height.

[0010]

SUMMARY OF THE INVENTION An object of the present invention is to provide a traveling apparatus having a pair of crawlers, a longitudinal direction inclination detecting means for detecting a longitudinal direction inclination of a vehicle body, and a detection value of the longitudinal direction inclination detecting means. Thus, the problem is solved by a traveling device provided with left-right inclining means capable of changing the height of the vehicle body.

When a combine, which is an example of the traveling apparatus of the present invention, enters a wetland from a dry field, the front in the traveling direction first sinks. When it is detected, the left-right inclination means controls the ascent of the vehicle body, and the combine tends to incline backward (upward) during traveling in the wet field. (Or a smaller value), it is determined that the combine is traveling in a dry field because the combine is traveling horizontally, and the set vehicle height is lowered and the vehicle body is lowered.

Therefore, the detection of the wetland is reliable, and the vehicle height can be maintained high in the wetland.
The height of the vehicle can be automatically controlled to improve the operability of the combine. Also, in the dry field, since the height of the vehicle can be prevented, the harvesting operation is performed while the vehicle height is raised in the dry field, and the angle of the cutting blade of the cutting device becomes oblique with respect to the grain stalk standing upright in the field. This makes it difficult to harvest the stalks, increases the load on the cutting blade, shortens the life of the cutting blade, and prevents problems such as disturbed cutting marks.

It is desirable that the left-right inclining means of the present invention be provided on a pair of left and right sides in the traveling direction of the traveling device, but a single one may be provided. Further, the traveling device of the present invention is not limited to the combine, but can be applied to a traveling device having a traveling unit including a harvester, a bulldozer, and other crawlers.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings. This embodiment is an improvement of the structure of the combine 1 described in the prior art, and the structure of the combine 1 shown in FIGS. The same parts as those of the members are denoted by the same reference numerals, and description thereof is omitted.

FIGS. 4 to 6 are diagrams illustrating the operation of the embodiment of the present invention. Traveling device 3 of combine 1
Includes a crawler 14 having an endless belt shape, a driving sprocket 15 for rotating the crawler 14, a plurality of grounding wheels 16 provided at predetermined intervals to ground the crawler 14 on the ground, and a swing corresponding to unevenness of the ground. A driving wheel 17, a track roller frame 18 supporting the ground wheel 16 and the oscillating wheel 17, a moving sprocket 19 for applying tension to the crawler 14, an adjusting device 20 for moving and adjusting the moving sprocket 19, and a crawler 14 and the like, and the same configuration is provided in a pair of right and left.

As shown in FIG. 2, a plurality of arms 51 extend downward from the track roller frame 18, and a crawler guide 50 is fixed to a lower end of the arm 51. The crawler guide 50 allows the crawler 14 to be derailed. It is a configuration that prevents it. The swing wheel 17 is rotatably supported by a swing arm 53 which is swingably and loosely supported on a swing shaft 52 fixed to the track roller frame 18 to cope with unevenness of the ground. Swing arm 53 as before
Arms 51 extend downward from the arm 5, and the arms 5
A crawler guide 50 is fixed to a lower end of the crawler 1, and the crawler guide 50 is configured to prevent the crawler 14 from derailing.

The left and right inclining means 4 are provided on the left and right of the traveling device 3, respectively. Referring to FIG. 2, the left and right tilting means 4 will be described. The track roller frame 18 has a front arm 22 having a “H” shape at the front thereof and a pin 23 having a lower end fixed to the track roller frame 18. And the rear arm 24 at the rear is “he”.
The lower end of the character is loosely connected to a pin 25 fixed to the track roller frame 18. The center of the front arm 22 is loosely fitted to a front rolling shaft 27 fixed to the chassis 2. The center of the rear arm 24 is loosely fitted to a rear rolling shaft 28 fixed to the chassis 2. Further, the upper end of the front arm 22 and the upper end of the rear arm 24 are connected to the connecting rod 32 and the connecting rod 32a.
Further, the end of the connecting rod 32a is connected to the end of the piston rod 34 of the rolling cylinder 33 which is operated by hydraulic pressure. The rolling cylinder 33 is fixed to the chassis 2.

Therefore, when the rolling cylinder 33 is operated to pull the piston rod 34, the connecting rod 32a moves rightward in the left side view of FIG. 2, and the rear arm 24 rotates clockwise to rotate the connecting rod 32a. And the connecting rod 32 causes the front arm 22 to rotate clockwise. Then, both the rear arm 24 and the front arm 22 rotate clockwise, whereby the track roller frame 18 is lowered with respect to the chassis 2. Therefore, the lowering of the crawler 14 relatively raises the chassis 2, and when the left crawler 14 sinks, the chassis 2 operates to return to the horizontal position.

The rolling stroke sensor 36 is mounted on the chassis 2
And one end of a stroke sensor rotation arm 36b that slides and engages with a pin 36a that is erected on the connecting rod 32a, is pivotally mounted, and the operating position of the connecting rod 32a, that is, the left and right tilting means 4, can be detected. Configuration. Further, a left-right horizontal sensor 35 and a front-rear inclination sensor 35a are attached to the upper surface of the chassis 2 substantially at the center.

Since the same structure as in FIG. 2 is also provided on the right side in the traveling direction of the vehicle body, when the right crawler 14 sinks, it can be operated to return the chassis 2 to the horizontal position. Left and right horizontal control (rolling) is performed by the left and right tilting means 4, and the left and right rolling cylinders 33,
If the piston rods 34, 34 'of 33' are simultaneously operated and towed, the chassis 2 will rise with respect to the ground. When the piston rods 34, 34 'of the rolling cylinders 33, 33' are simultaneously extended, the movement is opposite to the above-mentioned movement, so that the track roller arm 18 rises upward with respect to the chassis 2, and with respect to the ground. The chassis 2 will descend.

The inclination state of the combine 1 is perceived by an operator boarding the control board 13 or detected by a left and right horizontal sensor 35 installed substantially at the upper center of the chassis 2, and the operator manually shifts the right-up switch 105 or The horizontal control is performed by operating the left-up switch 106 (see FIG. 3). Further, if the left and right automatic switch 104 is turned on as shown in FIG.
101 is a right-up solenoid 121 and a right-down solenoid 1
22, the left-up solenoid 123 or the left-down solenoid 124 is driven, the rolling cylinders 33 and 33 'are operated, and the left and right inclining means 4 is operated to automatically perform left and right horizontal control.

When raising combine 1,
An operator manually operates the vehicle height raising switch 102 to raise the chassis 2 and conversely, the vehicle height lowering switch 1
03 can be operated to lower the height of the chassis 2.

In the combine 1 provided with the above-mentioned right and left tilting means 4, the control device 1 shown in the circuit diagram of the control device in FIG.
It is characterized in that the vehicle height automatic control of the undercarriage 2 is performed by using 00. That is, the control device 100 shown in FIG.
In addition to the above-mentioned vehicle height raising switch 102, vehicle height lowering switch 103, left / right automatic switch 104, right raising switch 105, left raising switch 106, left / right horizontal sensor output 35, right rolling stroke sensor output 3
6 ', left rolling stroke sensor output 36, front / rear inclination sensor output 35a, and output signal of vehicle height automatic setting switch 107 are input. The result of the arithmetic processing performed by the CPU 101 is output to the solenoid that drives the rolling cylinders 33 and 33 ′ as described above, that is, to the right-up solenoid 121, the right-down solenoid 122, the left-up solenoid 123, or the left-down solenoid 124, 2 is operated to incline and move up and down.

In this way, when the left and right automatic switch 104 is turned on, the chassis 2 is controlled horizontally by the detection output of the left and right horizontal sensor 35, and when the automatic vehicle height setting switch 107 is turned on, the front and rear inclination sensor is turned on. The undercarriage 2 is controlled to be raised based on the detection output of the front and rear inclination of the undercarriage 2 by 35a. The front-back inclination sensor 35a outputs a front-back inclination sensor value in direct proportion to the front-back inclination amount of the chassis 2 as shown in FIG. The CPU 101 of the control device 100 determines whether the chassis 2 is inclined forward (upward) or backward (upward) as shown in FIG. The height of the chassis 2 is set and output. When the front-rear inclination sensor 35a detects and outputs the inclination by performing the automatic control in this manner, the chassis 2, that is, the combine 1, increases the vehicle height.

The combine 1 provided with the right and left tilt means 4 is provided with a front and rear tilt sensor 35a,
If the inclination of the chassis 2 in the front-rear direction is detected by using 0, control for automatically increasing the vehicle height is performed.

When the combine 1 rushes from a dry field to a wet field, for example, the forward part in the traveling direction sinks.
Is detected and the set vehicle height is increased.
The undercarriage 2 is controlled to rise, and the combine 1 often leans backward (upward) while traveling in wetland. Therefore, the undercarriage 2 is similarly controlled to be elevated, and if the front and rear inclination sensor value is zero (or a small value), the combine is controlled. Since the vehicle 1 is traveling horizontally, it is determined that the vehicle is traveling in dry fields, the set vehicle height is lowered, and the chassis 2 is lowered.

Therefore, the detection of the wetland is reliable, and the vehicle height can be maintained high in the wetland.
The height of the vehicle can be automatically controlled, and the operability of the combine 1 can be improved. Further, in the dry field, since the vehicle height can be prevented from being raised, the cutting operation is performed while the vehicle height is raised in the dry field, and the angle of the cutting blade 8 of the cutting device 6 is oblique to the grain stalk standing upright in the field. It becomes difficult to cut the stalks, increases the load on the cutting blade, shortens the life of the cutting blade, and disturbs the cutting marks that occur when the angle of the cutting blade deviates from the optimum value. Failure can be prevented.

Incidentally, as shown in FIG.
The vehicle height control is not performed while the output value of 5a is a small value between + α and −α, so that the automatic control device 100
The effect of further stabilizing the operation is obtained.

FIGS. 7 to 9 show a first modification of the combine 1 according to the embodiment of the present invention shown in FIGS. FIG. 7 is a circuit diagram of the control device 100 of the present example, and FIG.
FIG. 9 and FIG. 9 are diagrams illustrating the operation of this example.

The structure of the present embodiment is such that the automatic control device 100 shown in the control device circuit diagram of FIG. is there. That is, the control device 10 shown in FIG.
0 comprising a CPU 101 by a microcomputer,
The CPU 101 includes a vehicle height raising switch 102, a vehicle height lowering switch 103, a left / right automatic switch 104, a right raising switch 105, a left raising switch 106, a right rolling stroke sensor output 36 ', a left rolling stroke sensor output 36, a left / right horizontal sensor. Output signals such as an output 35, a front-back tilt sensor output 35a, a vehicle height automatic setting switch 107, and a back (reverse) switch 108 are input. CP
Rolling cylinder 3
The solenoids 3 and 33 'are output to the solenoid 121 for raising the right, the solenoid 122 for lowering the right, the solenoid 123 for raising to the left, or the solenoid 124 for lowering the left.

When the automatic vehicle height setting switch 107 is turned on, as shown in FIG. 2, the longitudinal inclination of the chassis 2 is detected by the longitudinal inclination sensor 35a, and the output of the sensor is used to control the elevation of the chassis 2. The front-rear inclination sensor 35a outputs a front-rear inclination sensor value in direct proportion to the front-rear inclination amount of the chassis 2 as shown in FIG. Since the area smaller than β is set as the setting area, when the combine 1 is in the reverse state and the undercarriage 2 is inclined forward (upward) and enters the setting area beyond −β, as shown in FIG. The vehicle height is set to the maximum value.

If the value of the front-rear inclination sensor 35a exceeds -β and is in the set area, the height of the undercarriage 2 with respect to the ground rises immediately since the undercarriage 2 is controlled to rise to the maximum vehicle height, and the mud is removed by the reaper. Dragging is eliminated, and the adverse effect on the next operation is reduced. In addition, there is an effect that the traveling mission section also rises, and the mud wicking property is improved, so that the wet field traveling performance is further improved, and the operability of the combine 1 can be further improved.

FIGS. 10 and 11 show a second modification of the combine 1 according to the embodiment of the present invention shown in FIGS.
Shown in 10 and 11 are diagrams illustrating the operation of the present example.

The structure of the present embodiment operates in such a manner that the undercarriage 2 is tilted and moved up and down in the combine 1 provided with the above-described right and left tilting means 4 as in the examples shown in FIGS. When the automatic vehicle height setting switch 107 is turned on, the front and rear inclination of the chassis 2 is controlled to rise by the detection output of the front and rear inclination sensor 35a. The front-rear inclination sensor 35a outputs a front-rear inclination sensor value in direct proportion to the front-rear inclination amount of the chassis 2 as shown in FIG. 10, but the CPU 101 of the control device 100 determines an area where the front-rear inclination sensor value is smaller than zero. As the setting area, when the combine 1 is in the reverse state and the chassis 2 is inclined forward (upward) and becomes zero or less as shown in FIG. 9, the set vehicle height is set in proportion to the front-back inclination sensor value. Control.

In this embodiment, the control for automatically increasing the vehicle height is performed based on the detected value of the inclination of the chassis 2 in the front-rear direction. However, when the combine 1 is in the forward state, the output value of the front-rear inclination sensor 35a is any value. Vehicle height control is not performed.
When the forward inclination (rear rise) of the undercarriage 2 is less than or equal to the set area zero in a reverse state, the vehicle height of the undercarriage 2 is controlled to rise in proportion to the front-rear inclination sensor value. Rises, the mud is no longer dragged by the mowing part, and the adverse effect on the next operation is reduced. In addition, the traveling mission section also rises, and the mud bleeding property improves, and the cutting blade angle can be optimized at the next work in the point that it rises in proportion to the effect, and the cutting marks become clear Therefore, the wet field running performance is further improved, and the operability of the combine 1 can be further improved.

FIGS. 12 to 14 show a third modification of the combine 1 according to the embodiment of the present invention shown in FIGS.
Shown in FIG. 12 is a circuit diagram of the control device of this example, and FIG.
3 and 14 are diagrams illustrating the operation of the present example. According to the present example, it is possible to improve the mowing performance of the combine 1 and clear the warning and the mowing trace of the vehicle height increasing state in the dry field.

In the combine 1 provided with the above-mentioned right and left tilting means 4, the automatic height control of the chassis 2 is performed by using the automatic control device 100 shown in the control device circuit diagram of FIG. The vehicle height raising switch 102, the vehicle height lowering switch 103, the left / right automatic switch 104, the right raising switch 105, the left raising switch 10
6. Input output signals such as a right rolling stroke sensor output 36 ', a left rolling stroke sensor output 36, and a left and right horizontal sensor output 35. The result of the arithmetic and control performed by the CPU 101 is output to a solenoid that drives the rolling cylinders 33 and 33 ′, that is, a right-up solenoid 121, a right-down solenoid 122, a left-up solenoid 123, or a left-down solenoid 124 to tilt and raise and lower the chassis 2. And a pilot lamp (warning lamp) 125 is turned on.

As shown in FIG.
When 3, 33 'is actuated and extended, the output value of the stroke sensors 36, 36' increases in direct proportion to the stroke. The region indicated by the reference line in FIG. 13 is a region where the rolling cylinder stroke is small and the vehicle height is low. In the present example, as shown in FIG.
The difference between the detection outputs of the left and right stroke sensors 36, 36 'is calculated in advance and a set value is provided in advance.
Is smaller than the set value and the stroke sensor 3
If the output value of either 6 or 36 'exceeds the region of the vehicle height (reference line in FIG. 13), control device 100 turns on pilot lamp 125 (or sounds an alarm buzzer).
Acts to be.

In this example, if the difference between the left and right stroke sensors 36 and 36 'is less than the set value, the combine 1 determines that the vehicle is traveling on a dry field, and the stroke sensor 36 or 36' If any of the output values of 36 ′ exceeds the low vehicle height range, it is determined that the vehicle height of the combine 1 is high, and it is not preferable to run at a high vehicle height in a dry field. (Buzzer sounds) to warn the operator, and the operator can operate according to the warning to lower the vehicle height of the combine 1. As a result, it is possible to prevent the vehicle from running high in a dry field, so that it is possible to improve the mowing performance and prevent disturbance of the mowing trace due to proper mowing.

FIGS. 15 to 20 show a fourth modification of the combine 1 according to the embodiment of the present invention shown in FIGS.
Shown in FIG. 15 is a side view of the traveling device of this example, and FIG.
6 is a plan view of the traveling device of this example, FIG. 17 is a circuit diagram of the control device of this example, FIG. 18 is a diagram showing a control flow of the control device of this example, and FIGS. Is a diagram showing the operation of the present example.

According to the present embodiment, in the combine 1 having the left-right direction tilting means and the front-back direction tilting means capable of tilting in the left-right direction and the front-back direction, the vehicle height is automatically increased in wet fields and automatically set in dry fields. The vehicle height can be reduced, the running performance in wet fields and the cutting performance in dry fields can be improved, and the operability of the combine 1 can be improved.

The traveling device 3 of the combine 1 shown in FIGS. 15 and 16 has a traveling device 3 having a pair of left and right traveling crawlers 14 disposed below the vehicle body 2, and is provided between the vehicle body 2 and the traveling device 3. Left and right tilting means 4 for raising and lowering the vehicle body 2 and front and rear tilting means 5 for tilting the vehicle body 2 back and forth are interposed.

Of the configurations of the traveling device 3 and the left-right inclining means 4,
The description of the same parts as described above is omitted. The other end of the front arm 22 of the left / right tilting means 4 is loosely connected to a front rolling shaft 27 of a support 26 fixed to the chassis 2, and furthermore, the arm 30 is loosely connected to the front rolling shaft 27. It is fitted and connected. The front arm 22 and the arm 30 are connected and fixed. The other end of the rear arm 24 is loosely connected to a rear rolling shaft 28 of a connecting frame 29, and further, an arm 31 is loosely connected to the rear rolling shaft 28. The rear arm 24 and the arm 31 are connected and fixed. The arm 30 and the arm 31 are loosely connected by a connecting rod 32, and the end of the arm 31 is loosely connected to the end of a piston rod 34 of a rolling cylinder 33. The rolling cylinder 33 includes an arm 33 that is loosely fitted to the chassis 2.
a, and the frame 33b is
, The end of which is connected to the pitching arm 39.

The frame 33b is for making the rolling cylinder 33 movable. The reason why the rolling cylinder 33 is suspended by the arm 33a is to change the fulcrum of the rolling cylinder 33 when the pitching cylinder 43 is operated by hydraulic pressure.

Therefore, when the piston rod 34 of the rolling cylinder 33 is extended, in the left side view of FIG. 15, the arm 31 rotates clockwise to pull the connecting rod 32, and the connecting rod 32 moves the arm 30 clockwise. Rotate. Then, the rear arm 24 and the front arm 22
Both rotate clockwise, whereby the track roller arm 18 is lowered with respect to the chassis 2. FIG.
There is also the same structure on the right side of the vehicle's traveling direction,
Left and right horizontal control (rolling) can be performed.

When the piston rods 34, 34 'of the left and right rolling cylinders 33, 33' are simultaneously extended, the chassis 2 rises with respect to the ground. Also, when the piston rods 34, 34 'of the rolling cylinders 33, 33' are contracted, the movement becomes opposite to the above-mentioned movement, so that the track roller arm 18 rises upward with respect to the chassis 2,
The undercarriage 2 will descend with respect to the ground.

Next, the front-rear inclining means 5 for inclining the front-back direction of the chassis 2 will be described. One end of the connecting frame 29 is connected to the pitching arm 39 by a pin 38. It is loosely connected to the shaft 40. Specifically, the shaft 40 is
2, it is rotatably supported by the traveling frame 41. Only the pitching arm 39 on the right side with respect to the forward direction of the combine 1 protrudes upward to form a protruding portion 39a,
The end of the piston rod 44 of the hydraulically operated pitching cylinder 43 that is loosely fitted to the chassis 2 is loosely fitted to its end.

When the piston rod 44 is extended, the pitching arm 39 rotates clockwise about the shaft 40 as a fulcrum. Since the pin 38 also rotates clockwise together with the pitching arm 39, the connecting frame 29, the rear rolling shaft 2
8, the rear arm 24 and the pin 25 are raised. The pin 2
5 raises the rear part of the track roller frame 18, so that the distance between the rear part of the chassis 2 and the crawler 14 is shortened, and the rear inclination is reduced, that is, the chassis 2 and the combine 1 are inclined forward.

When the piston rod 44 is shortened, the movement is opposite to that described above, so that the distance between the rear portion of the chassis 2 and the crawler 14 is increased, and the chassis 2 and the combine 1 are inclined forward and downward.

The inclination (pitching) of the combine 1 in the front-rear direction is corrected by the front-rear inclination means 5, and when the combine is inclined in a wetland or the like in a field, the front-rear inclination sensor 35a detects the inclination and is manually or by a control device 100 described later. , The pitching vehicle body horizontal control for keeping the combine 1 horizontal can be performed.

The pitching stroke sensor 37 is mounted on the chassis 2
The other end of a rod 37b, one end of which is loosely fitted to a pin 37a implanted in the pitching arm protrusion 39a, is loosely fitted to an arm 37c, and the arm 37c is pivotally mounted on the pitching stroke sensor 37, and the pitching arm 39 , That is, the operating position of the front-rear inclining means 5 can be detected.

In this embodiment, the automatic control device 100 shown in the control device circuit diagram of FIG. 17 is used to automatically control the vehicle height of the undercarriage 2 in the combine 1 having the left-right tilting means 4 and the front-back tilting means 5. It is characterized by a configuration for performing. That is,
The CPU 101 of the control device 100 shown in FIG. 17 includes a vehicle height raising switch 102, a vehicle height lowering switch 103, a left / right automatic switch 104, a front / rear automatic switch 110, a right raising switch 105, a left raising switch 106, a front raising switch 111, Output signals from the lowering switch 112, the right rolling stroke sensor output 36 ', the left rolling stroke sensor output 36, the left and right horizontal sensor output 35, the front and rear inclination sensor output 35a, the pitching stroke sensor output 37, the vehicle height automatic setting switch 107 and the like are input. . CPU
The result of the arithmetic control in 101 is used for the rolling cylinder 33,
Solenoids for driving 33 ′, that is, a right-up solenoid 121, a right-down solenoid 122, and a left-up solenoid 1
23, left lowering solenoid 124, pitching cylinder 3
3 is actuated so that the chassis 2 is tilted left and right, forward and backward, and up and down.

The operation of this embodiment is similar to that of the automatic vehicle height setting switch 10 shown in FIG.
When the shutter 7 is turned on, the chassis 2 is controlled to move up and down based on the output value of the pitching stroke sensor 37. As shown in FIG. 19, the pitching stroke sensor 37 outputs the minimum value (1 in FIG. 19) when the stroke of the pitching cylinder 43 is inclined in the front-rear direction, and the output becomes large regardless of the stroke. Therefore, as shown in FIG. 20, the control device 100 sets the vehicle height to 0 when the pitching stroke sensor value is input and the range becomes 1 in proportion to the pitching stroke sensor value as shown in FIG. When the vehicle is in the range of 2, the set vehicle height is A, and when it is in the range of 3, the vehicle height is B, and when it is in the range of 4, the vehicle height is C.

In this embodiment, the operating condition of the front / rear tilting means 5 of the chassis 2 is detected from the operation of the pitching cylinder 43, and the stroke of the pitching cylinder 43 is reduced to a minimum at the horizontal position of the front / rear tilt. Is controlled so that the vehicle height is increased irrespective of where the vehicle moves, so that in a wet field, the vehicle height of the combine 1 is surely raised to prevent the operator from forgetting to perform the lifting operation. Can be prevented, and the angle of the cutting blade deviates from the optimum value, and there is a disadvantage that the cutting marks are disturbed.

FIGS. 21 to 23 show a fifth modification of the combine 1 according to the embodiment of the present invention shown in FIGS.
Shown in FIG. 21 is a circuit diagram of the control device of the present example, and FIG.
2 and 23 are diagrams illustrating the operation of the present example. According to this example, it is possible to improve the mowing performance of the combine 1 and to warn of a vehicle height increasing state in a dry field and to clear the mowing mark.

In the present embodiment, in the combine 1 provided with the left-right inclining means 4 and the front-back inclining means 5, the automatic height control of the chassis 2 is performed using the automatic control device 100 shown in the control device circuit diagram of FIG. It is characterized by. That is, FIG.
7 includes a vehicle height raising switch 102, a vehicle height lowering switch 103, a left / right automatic switch 104, a front / rear automatic switch 110, a right raising switch 105, a left raising switch 106, a front raising switch 11
1. Front down switch 112, right rolling stroke sensor output 36 ', left rolling stroke sensor output 3
6. Left and right horizontal sensor output 35, front and rear inclination sensor output 35
a, an output signal such as a pitching stroke sensor output 37 is input. Solenoids that drive the rolling cylinders 33 and 33 ′ based on the result of the arithmetic and control performed by the CPU 101, that is, a right-up solenoid 121, a right-down solenoid 122,
Front raising solenoid 12 for driving left raising solenoid 123, left lowering solenoid 124, pitching cylinder 43
6 or an output to the front lowering solenoid 127 to actuate the chassis 2 to incline, move up and down, left and right, back and forth.

The CPU 101 of the control device 100
As shown in Fig. 2, combine 1 is on the horizontal ground and chassis 2
Are set with a certain width based on the output value of the pitching stroke sensor 37 corresponding to the stroke of the pitching cylinder 43 when the front-rear inclination is horizontal, and the rolling cylinder stroke is small as shown in FIG. The area of the rolling stroke sensor value of the vehicle height is also set, and if the output value of the pitching stroke sensor 37 is within the above set value and exceeds the set area of the rolling stroke sensor value, the pilot lamp 125 is turned on. (Buzzer sounds) and warns.

As described above, since the output value of the pitching stroke sensor 37 is within the set value, the combine 1
When the undercarriage 2 is substantially horizontal and it is determined that the vehicle is traveling in the dry field, and when it is determined that the rolling stroke sensor value exceeds the set area and the vehicle height is increasing, the pilot lamp 125 is turned on ( (Buzzer sounds) to warn the operator that the vehicle height is high despite driving in dry fields, and perform the necessary vehicle height lowering operation to eliminate the inconvenience of the cutting blade angle deviating from the optimum value and cutting marks being disturbed. Can be encouraged. Therefore, the harvesting performance of the combine 1 can be improved, and the cutting height in the dry field can be avoided, so that the mowing trace in the harvesting operation can be cleaned.

FIGS. 24 to 26 show a sixth modification of the combine 1 according to the embodiment of the present invention shown in FIGS.
Shown in FIG. 24 is a circuit diagram of the control device of this example, and FIG.
5 is a side view for explaining the operation of the cutting angle sensor, and FIG. 26 is a diagram for explaining the operation of the cutting angle sensor. According to this example, it is possible to improve the mowing marks and prevent forgetting to lower the vehicle height in the dry field.

The configuration of the present embodiment is based on a combine 1 provided with a left-right inclining means 4 and a front-back inclining means 5, using an automatic control device 100 shown in a control device circuit diagram of FIG. 24 and a cutting angle sensor shown in FIG. , Which is characterized in that the height of the chassis 2 is controlled. That is, the control device 10 shown in FIG.
0 CPU 101 includes a vehicle height raising switch 102, a vehicle height lowering switch 103, a left / right automatic switch 104, a front / rear automatic switch 110, a right raising switch 105, a left raising switch 106, a front raising switch 111, a front lowering switch 1
12. The signals of the right rolling stroke sensor output 36 ', the left rolling stroke sensor output 36, the left and right horizontal sensor output 35, the front and rear inclination sensor output 35a, and the cutting angle sensor 45 are input. Solenoids that drive the rolling cylinders 33 and 33 ′ based on the result of the arithmetic and control performed by the CPU 101, that is, a right-up solenoid 121, a right-down solenoid 122, a left-up solenoid 123, a left-down solenoid 124, and a forward-up solenoid 126 that drives the pitching cylinder 43. Alternatively, an output is made to the front lowering solenoid 127 to operate the chassis 2 so as to incline, move up and down, right and left, back and forth. In the warning range of the cutting angle described below,
Sound the warning buzzer 128 (or turn on the warning light)
Configuration.

As shown in FIG. 25, the mowing frame 9 is rotatably supported on the upper portion of the mowing support 2a which is erected at the front of the chassis 2, and the angle formed between the mowing support 2a and the mowing frame 9 is adjusted. The cutting angle of the cutting device 6 is detected by a cutting angle sensor 45 such as a rotary potentiometer. In Figure 25 the solid line indicates the cutting state of a horizontal dry paddy field, reaper angle cutting frame 9 is theta _2. Even when the traveling device 3 sinks to the position shown by the reference line in FIG. 25 in a wetland or the like, the chassis 2 is raised by operating the left and right inclining means 3 and the reaper 6 is operated to the field ground position suitable for reaping. Cutting frame 9
The angle theta ₂ cutting remains the position of the solid line does not change. However, when entering the dry field with the chassis 2 raised, the traveling device 3 is at the position of the reference line in FIG. 25, and the cutting frame 9 'moves the cutting device 6 to the position of the reference line according to the position of the field ground. now, cutting angle becomes θ _1.

[0062] In this example, the control device 100, the cutting angle θmax when raised cutting device 6, as shown in FIG. 26 in the uppermost position, slightly smaller than the normal cutting angle theta ₂ (theta
Up to _2- γ) is stored as a setting range, and when the cutting angle is out of the setting range and becomes θ1, for example, the warning buzzer 126 is sounded (the warning lamp is turned on). According to this embodiment, the operator forgets the operation, working cutting while increasing the vehicle height in dry paddy field, cutting angle theta _1, and the cutting blade of the cutting device 6 with respect culms upstanding in the field 8 The angle of the cutting blade deviates from the optimum value, and the inconvenience that the cutting trace is disturbed can be prevented.

Note that from the cutting angle θmax (θ₂−γ)
Out of the setting range, for example, θ ₁Even if it becomes
And the front-rear inclination sensor 35a detects the inclination as shown in FIG.
If determined, do not output an alarm
Can also. In this way, mowing work can be performed in wetlands.
When carrying out, the chassis 2 is likely to be tilted forward and
The cutting angle θ is likely to be small, and
An erroneous operation such as an operation of lowering the height can be prevented.

FIGS. 27 to 29 show a seventh modification of the combine 1 according to the embodiment of the present invention shown in FIGS.
Shown in FIG. 27 is a circuit diagram of the control device of this example, and FIG.
8 is a side view for explaining the operation of the cutting angle sensor, and FIG. 29 is a diagram for explaining the operation of the cutting angle sensor. According to the present example, it is possible to automatically adjust the cutting marks to be improved and the vehicle height of the combine 1 in accordance with the field condition.

The structure of this embodiment is as follows. In the combine 1 provided with the left and right tilting means 4 and the front and rear tilting means 5, the automatic control device 100 shown in the circuit diagram of the control device in FIG. 27 and the cutting angle sensor 45 shown in FIG. The configuration is characterized in that the vehicle height of the chassis 2 is automatically controlled by using the vehicle height. That is, the CPU 101 of the control device 100 shown in FIG. 27 includes a vehicle height raising switch 102, a vehicle height lowering switch 103, a left / right automatic switch 104, a front / rear automatic switch 110, a right raising switch 1
05, left raising switch 106, vehicle height automatic setting switch 1
07, front up switch 111, front down switch 112,
Right rolling stroke sensor output 36 ', left rolling stroke sensor output 36, left and right horizontal sensor output 3
5, front and rear inclination sensor output 35a and cutting angle sensor 4
5 is input. The following control cannot be performed unless the vehicle height automatic setting switch 107 is turned ON.

A solenoid that drives the rolling cylinders 33 and 33 ′ based on the result of the arithmetic control by the CPU 101, that is, a solenoid 121 for raising the right, a solenoid 122 for lowering the right,
Front raising solenoid 12 for driving left raising solenoid 123, left lowering solenoid 124, pitching cylinder 43
6 or output to the front lowering solenoid 127 to control the operation of the chassis 2 to tilt left and right, forward and backward, and to move up and down.

As shown in FIG. 28, the mowing frame 9 is rotatably supported on the upper part of the mowing support 2a which is erected at the front of the chassis 2, and the angle formed between the mowing support 2a and the mowing frame 9 is adjusted. The cutting angle of the cutting device 6 is detected by a cutting angle sensor 45 such as a rotary potentiometer. Further, the control device 100 stores a set angle centering on the appropriate cutting angle θ as shown in FIG. In the harvesting operation, the operator who rides on the combine 1 operates a power steering lever (not shown) to adjust the traveling direction of the combine 1 and the height of the harvester 6. That is, the power steering lever is operated and adjusted so that the cutting blade 8 of the cutting device 6 cuts the root of the grain stalk to be planted in the field to a certain height from the field scene. Then, when the combine 1 enters the wetland and the crawler 3 sinks, the operator also operates the power steering lever to adjust the harvester 6 to the ascending position because the operator also sinks the harvester 6 and cannot harvest. 28, the cutting angle θ changes greatly. Control device 10
0 drives the right-raising solenoid 121 and the left-raising solenoid 123 by inputting a large cutting angle sensor value,
Go up chassis 2. When the chassis 2 is raised, the operator operates the power steering lever to lower the reaping device 6, and when the reaping angle returns to the original value θ, the control device 100 acts to stop the raising of the chassis 2. When the combine 1 shifts from the wet field to the dry field and the cutting angle changes to a small value, the action opposite to that described above is performed.

In this example, a change in the cutting angle is detected based on the lifting and lowering operation of the cutting device 6 by the power steering lever of the operator boarding the combine 1, and the chassis 2 is moved up and down so that the cutting angle always becomes θ. Since the automatic control is performed, the combine 1 can always be adjusted to the vehicle height that matches the condition of the field, the operator is prevented from forgetting to adjust the vehicle height, the mowing performance is improved, and the mowing trace is cleaned.

[0069]

According to the present invention, the running performance in wet fields is improved, and the height of the vehicle can be automatically controlled, so that the operability of the combine is improved. Can be prevented.

[Brief description of the drawings]

FIG. 1 shows a side view of the combine.

FIG. 2 is a side view showing details of a traveling device of the combine shown in FIG. 1;

FIG. 3 is a circuit diagram of a control device according to the embodiment of the present invention.

FIG. 4 is a diagram illustrating the operation of the embodiment of the present invention.

FIG. 5 is a diagram illustrating the operation of the embodiment of the present invention.

FIG. 6 is a diagram illustrating the operation of the embodiment of the present invention.

FIG. 7 is a circuit diagram of a control device according to a first modified example.

FIG. 8 is a diagram illustrating the operation of the first modification.

FIG. 9 is a diagram illustrating the operation of the first modification.

FIG. 10 is a diagram illustrating the operation of a second modification.

FIG. 11 is a diagram illustrating the operation of a second modification.

FIG. 12 is a circuit diagram of a control device according to a third modified example.

FIG. 13 is a diagram illustrating the operation of a third modification.

FIG. 14 is a diagram illustrating the operation of a third modification.

FIG. 15 is a side view of a traveling device according to a fourth modified example.

FIG. 16 is a plan view of a traveling device according to a fourth modified example.

FIG. 17 is a circuit diagram of a control device according to a fourth modification.

FIG. 18 is a diagram illustrating a control flow of a control device according to a fourth modification.

FIG. 19 is a diagram showing an operation of a fourth modified example.

FIG. 20 is a diagram showing the operation of the fourth modification.

FIG. 21 is a circuit diagram of a control device according to a fifth modified example.

FIG. 22 is a diagram illustrating the operation of a fifth modification.

FIG. 23 is a diagram illustrating the operation of the fifth modification.

FIG. 24 is a circuit diagram of a control device according to a sixth modified example.

FIG. 25 is a side view for explaining the operation of a cutting angle sensor according to a sixth modification.

FIG. 26 is an operation explanatory diagram of a cutting angle sensor according to a sixth modification;

FIG. 27 is a circuit diagram of a control device according to a seventh modified example.

FIG. 28 is a side view for explaining the operation of a cutting angle sensor according to a seventh modified example.

FIG. 29 is a diagram illustrating the operation of a cutting angle sensor according to a seventh modified example.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Combine 2 Undercarriage 2a Cutting support stand 3 Traveling device 4 Left-right inclining means 5 Front-back inclining means 6 Cutting device 7 Weeding tool 8 Cutting blade 9 Cutting frame 10 Feed chain 11 Threshing device 12 Glen tank 13 Steering table 14 Crawler 15 Drive sprocket 16 Ground contact roller 17 Oscillating roller 18 Track roller frame 19 Moving sprocket 20 Adjustment device 21 Support roller 22 Front arm 23 Pin 24 Rear arm 25 Pin 26 Support stand 27 Front rolling shaft 28 Rear rolling shaft 29 Connecting frame 30, 31 Arm 32 Connecting rod 32a Connecting rod 33, 33 'Rolling cylinder 33a Arm 33b Frame 34, 34' Piston rod 35 Left and right horizontal sensor 35a Front and rear inclination sensor 36, 36 'Rolling stroke sensor 36 Pin 36b Rolling sensor rotating arm 37 Pitching stroke sensor 37a Pin 37b Rod 37c Arm 38 Pin 39 Pitching arm 39a Projection 40 Shaft 41 Running frame 42 Bearing 43 Pitching cylinder 44 Piston rod 45 Cutting angle sensor 50 Crawler guide 51 Arm 52 Swing Shaft 53 Swing arm 100 Control device 101 CPU 102 Vehicle height raising switch 103 Vehicle height lowering switch 104 Left / right automatic switch 105 Right raising switch 106 Right lowering switch 107 Vehicle height automatic switch 108 Back switch 110 Front / back automatic switch 111 Forward raising switch 112 Front Lower switch 121 Right up solenoid 122 Right down solenoid 123 Left up solenoid 124 Left down solenoid 125 Pyro Set lamp (warning lamp) 126 Front raising solenoid 127 Front lowering solenoid 128 Warning buzzer

Claims (1)

[Claims] 1. A traveling device having a pair of crawlers, a front-rear direction inclination detecting means for detecting a front-rear direction inclination of a vehicle body, and a left and right side capable of changing a height of the vehicle body by a detection value of the front-rear direction inclination detecting means. A traveling device comprising a direction inclining means.