JPS592630A - Combine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a combine harvester, and more particularly, to a combine harvester that performs various automatic controls while traveling in a field and performing a series of operations including reaping operations.

Traditionally, combine harvesters have generally been controlled in various ways, including cutting height control, but in fields with poor ground conditions, such as wet fields, the left and right crawler running devices, which are the running devices, may sink in different ways on the left and right. C1 At that time, the aircraft body was tilted significantly to one side, and the work equipment attached to it was also tilted significantly, causing trouble in the work.

In other words, the reaping section tilts together with the machine body, the height above the ground differs between the left and right ends of the cutting section, making it impossible to control the cutting height normally, and the sorting device built into the machine body tilts.
The present invention solves the above-mentioned drawbacks of conventional combine harvesters, which have the drawback of reducing the performance of threshing and sorting and collecting grains.The first object of the present invention is to provide a combine harvester that can perform normal operations even in wet fields. In order to provide such a collection, the second objective is to realize it with a simple configuration.

In order to achieve such an object, the present invention is configured such that the left and right traveling devices with respect to the fuselage are independently configured to function up and down, and the height above the ground is set at a point on the fuselage that has different coordinates with respect to the horizontal coordinate axis of the fuselage. Distance sensors for detection are provided respectively.
Based on information from these sensors, control is performed to adjust the vertical positions of the left and right traveling devices relative to the aircraft body in order to hold the aircraft horizontally in the left-right direction A.

Because of this structure structure, the combine harvester of the present invention can maintain the machine body almost horizontally in the left and right direction even if the left and right running gears sink in different ways in fields such as wet fields. The machine no longer tilts to the ground, allowing normal work and control at all times. In particular, attitude control is performed by detecting the height above the ground at two points with different coordinates on the lateral coordinate axis of the aircraft, so compared to using a tilt sensor, the aircraft is more stable relative to the ground. It is now possible to achieve positive afIK and parallelism, making it possible to control the cutting height more accurately.

Hereinafter, the present invention will be explained in detail based on the drawings.

As shown in FIG. 1, a compiler as an embodiment of the present invention includes a machine body txt, which houses working devices such as a threshing device and a sorting and collecting device, and a drive source such as an engine;
The reaping section 12) arranged at the front of the fuselage (11) and the left and right crawler traveling devices (3) (3) provided at the lower part of the fuselage (11) for supporting the fuselage fi+.

The reaping part (2) is connected to the front part of the machine body (1) by a pivot +41VC so as to move up and down with respect to the machine body +I+,
The machine is configured to be moved up and down relative to the machine body (1) by a hydraulic cylinder installed between the machine body (1) and the reaping section (2).

The left and right crawler traveling devices 13) and (3) are connected to the lower part of the machine body fil by link machines ff1161 and (6), respectively, and are independently moved up and down with respect to the machine body fil K by means of left and right hydraulic cylinders +711 +71. It is configured to move.

These left and right crawler traveling devices (3) and (3) are designed so that the power from the engine on the aircraft side is transmitted regardless of the change in relative position with the aircraft body (+11). These hydraulic motors are connected to a hydraulic pump on the fuselage III side which is connected to the engine through a flexible oil pipe.

Sensors 18 and 8) for detecting the height above the ground are installed on both the left and right sides of the aircraft fi+, which detects the height above the ground on both sides of the aircraft fi+, and determines the attitude of the aircraft (1) and the height above the ground as described later. The height is configured to be controlled. A sensor (9) for detecting the height above the ground is also attached to the reaping section 1, and the mowing height is controlled based on the information from the sensor (9). These sensors (8) l (8) and (9) all use ultrasonic waves and are distance sensors.Next, adjust the attitude and ground height of the aircraft il+ using Figure 2 and below. The following describes the control performed in conjunction with the cutting height control.

As shown in the block diagram of FIG. 2, information from the above-mentioned ground height detection sensor (811191) is input to the arithmetic unit (101) constituting the control system via the input interface (11).

The arithmetic unit (lω) determines the direction in which each hydraulic cylinder 1511+711171 is operated as described later based on the above information, and outputs the output interface +l3HC and sono result.

Output Inter 7 Eighth O1 is connected to each hydraulic cylinder +61.
+71 Interposed between the pipe +71 and the hydraulic pump, the electromagnetic pulp [14]...
configured to supply operating current based on the
The operating direction of the °6 hydraulic cylinder 16+711171 is:
It is determined by the switching state of these electromagnetic pulps (141...).

FIG.
- chart, and as shown in this flowchart, the arithmetic unit +101 has seven lengths - (8), 81, (θ
) is compared with the predetermined value given in advance, and the corresponding hydraulic cylinder 15111711m is
It is configured to expand and contract.

As shown in this flowchart, the combine harvester of this embodiment does not simply maintain the machine body (1) horizontally in the left and right direction, but is configured with a spring that maintains the height of the machine body (1) from the ground at a constant level. , due to this sE formation, the hydraulic cylinder I7)
・By keeping the height of the machine body (1) as constant as possible, the mowing height will not only automatically be controlled, but will also produce the following effects: It's a thing.

That is, with respect to the fuselage Il+, the mower IIX section (2) is
4) Since the structure is such that it moves up and down -ζ by rotating around it, if it is turned too far up'F#, its direction will change, which is not favorable for reaping work. Therefore, by moving the fuselage (Il+) up and down, the above configuration is adopted not only to eliminate such weak points, but also to simultaneously prevent the bottom of the fuselage (11) from colliding with the ground.

In this embodiment, the height detection sensor above the ground of the aircraft body is provided outside of the crawler traveling device +31 +II.
This is to measure without being affected by the traces of the crawler traveling device, and the sensor installation position is not limited to the rear of the aircraft, but can also measure locations other than the traces of the crawler traveling device (31, (3)). , if they are located laterally to each other, they are mutually I/1.
It may be a location located before or after VC.

[Brief explanation of drawings]

The drawings show an embodiment of the combiner according to the present invention, FIG. 1 is a schematic side view of the combiner, FIG. 2 is a block diagram of the control system, and FIG. 8 is a block diagram of the arithmetic unit of the control system.
0-Chart. il+... Airframe, (3)... Crawler traveling device, (8)... Ground height ejection distance secer. Figure 1 Figure 3

Claims (1)

[Claims] ■ Left and right traveling devices 13) and (31) with respect to the aircraft body (1)
are designed to be able to move up and down independently, and distance sensors +811181 for detecting the height above the ground are provided at points on the aircraft +11 that have different coordinates with respect to the horizontal coordinate axis of one aircraft II+, and these sensors (8 Combine harvester O characterized in that, based on information from 8), control is performed to adjust the vertical position of the left and right traveling devices 13 with respect to the machine body (11) in order to hold the machine body +11 horizontally in the left and right direction. ■ When adjusting the positions of the left and right traveling devices (3) and 13), the height above the ground of the aircraft body (1) is adjusted to be maintained at 'i-1jt. Combine as described.