JPS58224869A - Combine - Google Patents

Abstract

PURPOSE:To maintain a working device fitted to a machine body at a horizontal status invariably by adjusting the up-and-down position of left and right travel gears in relation to the machine body. CONSTITUTION:Oil hydraulic cylinders 7 are operated so as to correct the height of a machine body and the inclination in the left and right directions, next the oil hydraulic cylinders 7 are operated to correct the inclination in the forward and backward directions. Travel gears 3 on both sides are prevented from being located at twisted positions each other by allowing two of the four cylinders 7, on one side or back and forth, to perform the same operation invariably. Outputs from a height detection sensor 9 and an inclination detection sensor 8 are fed through an input interface 11 into an arithmetic control section 12, which determines the direction to operate individual oil hydraulic cylinders 7 based on these information. As a result, solenoid valves 14 corresponding to individual oil hydraulic cylinders 7 are operated through an output interface 13, thus adjusting the length of the oil hydraulic cyliners 7.

Description

DETAILED DESCRIPTION OF THE INVENTION Misfire J relates to combines, and more specifically, combines that have various control means and structures necessary for control in order to improve work performance. Although various controls such as depth control are performed, there is no control to correct the horizontal tilt of the aircraft, and if the field is a wet field, the left and right traveling devices (Claw-2) The way the traveling gear sank on the left and right sides was different, causing the work equipment attached to the aircraft to tilt to the left and right, causing problems while the aircraft was moving. Such problems include, for example, the mower tilting to the left or right, making it impossible to properly control the cutting surface, and if the tilt becomes even greater, one side of the mower may collide with the ground, resulting in a malfunction. In addition, the ability of the sorting device to sort and recover all of the threshed grain may be reduced due to the sorting device built into the aircraft being tilted.

The present invention aims to eliminate the above-mentioned drawbacks of conventional combine harvesters, and aims to provide a combine harvester that can perform normal operations even in fields such as wet fields where the left and right running devices are tilted.

In order to achieve such an object, the present invention is configured such that the left and right traveling devices of the combine harvester can be moved up and down independently with respect to the machine body, and is equipped with a sensor that detects the horizontal inclination of the machine body. Based on this information, control is performed to adjust the vertical position of the left and right traveling devices with respect to the aircraft body in order to maintain the aircraft horizontally in both left and right directions.

Due to this structure of the combine harvester of the present invention, the machine body is maintained horizontally regardless of the horizontal inclination of the traveling gear, so that the work equipment Vi installed on the machine body is always in a horizontal state and normal work can be performed. It is something.

Embodiments of the present invention will be described below based on the drawings.

As shown in FIG. 1, the combine harvester of this embodiment includes a body (1) in which working devices M such as a threshing device and a sorting and collecting device, and a power source such as an engine are housed, and a front part of this body (1). A reaping part (2) arranged at
It is composed of al and f31.

The reaping part (2) is connected to the front part of the machine body 11) by a pivot (4) so as to move up and down with respect to the machine body (1), and is easily provided between the machine body 11) and the cutting T& part (2). It is configured so that it can be moved up and down with respect to the fuselage +1) by a hydraulic cylinder (5).

The left and right crawler traveling devices (31, tl) are connected to the lower part of the fuselage +lJ by a link mechanism (6) and front and rear hydraulic cylinders (γζ members), and each independently moves up and down with respect to the fuselage tLl. It is configured to tilt forward and backward.

Crawler running gear! +31 f +3) are provided on the respective Claw-2 traveling gears +31 and +31 so that the power from the engine on the fuselage (1) side is transmitted regardless of changes in the relative position with the fuselage (1). These hydraulic motors are connected to a hydraulic pump on the aircraft body which is connected to the engine through flexible oil pipes.

A sensor (8) that detects the inclination of the aircraft (1) and a sensor (9) that detects the height above the ground are attached to the aircraft +11. It is controlled to keep it in place.

This height above ground detection sensor (9) is a distance sensor that uses ultrasonic waves, and is equipped with Taro-2 traveling device +31, +3.
) to avoid the influence of the traces left by the aircraft, the aircraft fil
It is printed on the front of the book. On the other hand, in the tilt detection sensor (8), as shown in gEB diagrams (a) and (e) and (b), switches (10) are arranged at the front, rear, left and right sides, respectively. - A sensor that detects inclination by being opened and closed by liquid contained in a container, and is installed inside the aircraft body (1).
In the figure, all the upper lids are left out.

FIG. 8 shows the hydraulic cylinders (7) and
・It is a block diagram of a system of a control device that controls the height detection sensor (9) and the tilt detection sensor (8).
) is input to the calculation control unit (1'4) through the input interface 7A, and the calculation control unit (1'4) determines the direction in which each hydraulic cylinder (7) is fully operated based on this information. As a result, the output inter 7 ace (ll
By operating the electromagnetic pulp (14t) corresponding to each hydraulic cylinder (7) φ, a separate hydraulic cylinder (7)
)... can be fully adjusted.

In addition, each hydraulic cylinder (71) has a mint switch 06) that detects when each hydraulic cylinder (7) Φ has reached the limit of its movable range and can no longer raise the aircraft. When these limit switches (15) detect the limit, the gate θ6) closes, and the electromagnetic pulse θcandle becomes the side that extends the fist of the hydraulic cylinder (7). is prevented.

FIG. 4 shows a 70-chart of the control calculation unit (1 odor determination procedure).

That is, it detects whether the height above the ground is higher or lower than a predetermined value based on the output of the height above the ground detection sensor (9), and uses this judgment result and the left and right traveling devices from the tilt direction of the left and right sides of the aircraft. (3) Decide the direction in which to move up and down.
At this time, a number (1) is sent to the output inter 7 ace θ so that the front and rear hydraulic cylinders (71, +71) of each traveling device (3) operate in the same manner. After sending this signal, the calculation unit 0XO, Temporarily stop monitoring the posture of the machine for a predetermined period of time, and perform cutting height control (1) to maintain a constant height of the reaping section (2) above the ground. During this time, these hydraulic sills (7) move slightly.

In other words, until the output inter 7 ace (+ barrel) outputs a new control signal, the signal current continues to be emitted according to the previous signal to keep the movement of the hydraulic sill (7) constant until the calculation unit 0 outputs a new control signal. , hydraulic sill (7), etc. reach their movable limit, they are stopped in a hardware manner by gate u+.

After this cutting height control (1), the calculation unit Ono determines the inclination of the machine body after ItJ, and changes the state of each hydraulic sill (7) according to the direction of the inclination. To correct the inclination after this F]'lJ, one cylinder on the front side and one cylinder on the rear side always perform the same operation. Arithmetic unit 0
After emitting a signal to correct this longitudinal inclination, the cutting height is temporarily controlled (1) again in the same way as in (1) above.

To summarize the above, first, the height of the aircraft and the inclination in the left and right direction 1
FI: Hydraulic sill (7) to correct... Fully operate, then hydraulic sill (7) to correct the inclination in the front and back direction.
)... It is configured so that all of the shillings (7)... are operated, and one of the - side or front and rear shillings always operates in the same way, so that the traveling devices on both sides + 2)
, +31 are twisted together to prevent them from becoming fff.

Furthermore, as shown in this 70-chart, the combine harvester of this embodiment is configured not only to maintain the machine body +ill horizontally in the left and right directions, but also to keep the height of the machine body +l] constant above the ground. Depending on the configuration, hydraulic shillings (7)
This movement is inevitable by keeping the ground height of aircraft (1) constant as long as possible! ,・Not only is the cutting height controlled automatically,
□It is designed to produce the following effects.

In other words, the reaping section (2) is located at the axis (4) with respect to the fuselage il+.
Since it is configured to move up and down by rotating circumferentially, if it is moved up and down too much, its direction will change, which is not favorable for reaping work. Therefore, by moving the aircraft (1) up and down, you can not only eliminate this weak point, but also move the aircraft (1) up and down.
) The above structure is adopted so as to simultaneously prevent the bottom of the container from colliding with the ground.

In this embodiment, a tilt sensor in which the two switches (lO) and - are turned 0N-OFF by the liquid was used as the tilt sensor, but as shown in Figure ffJ5, the potentiometer (17) f: is moved by the weight to adjust the tilt of the aircraft. Feed puncture control may be performed by detecting the amount.

Furthermore, since the front and rear inclinations are generally smaller than the left and right inclinations and have less negative impact on work, the left and right traveling devices are adjusted so as to ignore this and correct only the left and right inclinations, as shown in Figure 5. and the aircraft, each hydraulic shilling (
You can also get 7 f, it.

[Brief explanation of the drawing]

The drawings show all the embodiments of the combine harvester according to the present invention, FIG. 1 is a schematic side view of the combine, and FIG. FIG. 4 is a system configuration diagram of the control device, and FIG. 4 is a 70-chart showing the processing sequence of the arithmetic unit. Moreover, FIG. 2 is a schematic side view of a combine harvester according to another embodiment. fil... Aircraft, +31, fB]...
... Traveling device 1! , (crawler traveling device), f9+...
... Height detection center 1 (8) ... Tilt detection sensor, (7) 11 ... Left and right hydraulic sills,
(1...Input Inter 7 Eighth, θ...
... Arithmetic unit, θ ... Output inter 7 ace, 0 x 1001. , electromagnetic pulp. Figure 1 Figure 2 Figure 3

Claims (1)

[Claims] ■ Left and right traveling devices +31, 13 for the fuselage (1)
1 is configured to be able to move up and down independently, and is equipped with a sensor (8) that detects the tilt of the aircraft body (1) in the left and right direction,
Based on the information from this sensor (8), the left and right traveling devices +3) are used to maintain the aircraft (1) horizontally in the left and right direction.
# A combine harvester characterized by being controlled to fully adjust the vertical position carved on the body of the t31. ■ To adjust the position of the left and right traveling devices (21, (21), a sensor (9) detects the height of the aircraft (1) above the ground.
According to claim 0, the height above the ground of the aircraft body +l is adjusted based on the information from this sensor (9) and the lijM self-sensor (8) so as to maintain it constant. combine harvester.