JP2841787B2 - Automatic control device for combine traveling equipment - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an automatic control device for a traveling device of a combine.

(Prior Art) As a prior application of the present application, a threshing device, a mowing unit, a traveling device having a pitching mechanism, and a front and rear inclination detection sensor for automatically controlling the pitching mechanism are provided, and the vertical movement is detected by the front and rear inclination detection sensor. In such a case, pitching control has been proposed for.

(Problems to be Solved by the Invention) When the combine is to be lowered from the truck, a steeply-bridged bridge is used. A similar phenomenon occurs when crossing a row during mowing. In particular, as shown in FIG. 3, over a ridge of a combine having a pitching mechanism, the terrain rises immediately before crossing the ridge. .

In order to prevent this, it is preferable that the pitching mechanism predict the state of the running surface beforehand, and in particular, when the vehicle is going down, output the backing down. Then, when the lowering output cannot keep up, the traveling speed may be reduced.

(Object of the Invention) An object of the present invention is to make it possible to safely unload a truck, cross a ridge, and the like.

(Means for Solving the Problems) Accordingly, the present invention provides a threshing device 2, a reaping unit 3, a traveling device 4 having a pitching mechanism, a front-back tilt detection sensor 5 for automatically controlling the pitching mechanism, and a machine vertical direction. And a ground height detection sensor 6 capable of detecting a change in the posture of the vehicle, wherein the ground height detection sensor 6 predicts the state of the running surface in advance, and outputs a lowering output if it falls forward. The vehicle speed detection sensor 7 is provided at a desired position, and when the posture change by the ground height detection sensor 6 cannot be made in time, the vehicle speed detection sensor 7 automatically lowers the traveling speed of the traveling device 4. An automatic control device for a traveling device of a combine, in which the traveling device 4 and the traveling device 4 are connected to each other.

(Embodiment) An embodiment of the present invention will be described with reference to the drawings. In FIG. 1, reference numeral 1 denotes a combine body frame, and a threshing device 2 is provided at an upper position of the body frame 1; A mowing part 3 is provided at a position, and a traveling device 4 is provided at a position below the body frame 1.

The traveling device 4 is provided with a pitching machine for correcting the longitudinal inclination of the body frame 1 and a rolling mechanism for correcting the lateral inclination of the body frame 1.

The pitching mechanism corrects the forward / backward tilt of the body frame 1 by the forward / backward tilt detection sensor 5 provided at a desired position of the body. I will rush.

In view of this, the present invention predicts a sudden change in the attitude of the aircraft, such as over a ridge, by the ground height detection sensor 6 provided in the mowing unit 3, and outputs a downward descending output in the case of a forward descending.
In the case of the rearward fall, the pitching mechanism is operated so as to output the forward lowering beforehand, thereby preventing the reaping unit 3 from rushing into the field, and the vehicle speed detection sensor 7 provided at a desired position of the body and the ground height. The operation time of the pitching mechanism by the automatic control is predicted by the detection sensor 6, and when the operation of the pitching mechanism cannot be performed in time to cross the ridge, the running speed of the body is reduced.

Thus, various configurations of the pitching mechanism and the rolling mechanism and a configuration for reducing the traveling speed of the body when the operation of the pitching mechanism cannot be made in time can be considered in various ways. One example will be described below.

In FIG. 4, reference numeral 9 denotes a pair of right and left crawlers which constitute a part of the traveling device 4, and is disposed below the body frame 1 at predetermined intervals on the left and right.

Reference numeral 10 denotes a guide wheel of the crawler 9, and reference numeral 11 denotes a traveling frame on which the guide wheel 10 is mounted. At the rear of the traveling frame 11, an outer end portion of a rear lateral mounting shaft 12 in the left-right direction is mounted.

Rear rolling arm on the inner end of the rear horizontal mounting shaft 12
The bottom end of the lower arm 14 is fixed to the outer end of the rear horizontal shaft 15 in the left-right direction.

The rear horizontal shaft 15 is mounted on a rear portion of a vertical pitching frame 16 parallel to the traveling frame 11. Pitching vertical frames 16 are provided as a pair on the left and right.

The inner end of the rear horizontal shaft 15 protrudes inward from the pitching vertical frame 16, and the base of the upper arm 17 of the left and right rear rolling arms 13 is fixed to the protruding portion.

The front end of the lower arm 20 of the front rolling arm 19 is provided at the front end of the running frame 11 with the outer end of the front horizontal mounting shaft 18 in the left and right direction mounted on the front end. Axle. The base of the lower arm 20 is fixed to the outer end of the front horizontal shaft 21 in the left-right direction, and the front horizontal shaft 21 is rotatably mounted on the front side of the vertical frame 16 for pitching.

The inner end of the front horizontal shaft 21 is protruded inward from the pitching vertical frame 16, and the front rolling arm 19.
The base of the upper arm 22 is fixed.

On the upper surface of each of the left and right vertical frames 16 for pitching, each of the bases of the left and right rolling cylinders 23 is attached, and the rod 24 of the rolling cylinder 23 is made to protrude rearward, and the tip of the rod 24 is attached to the upper arm 17. Each wears a shaft.

26 is a connecting rod for simultaneously rotating the upper arm 17 and the upper arm 22.

Although not shown, a pitching frame 27 is formed by fixing the left and right sides of a plurality of horizontal pitching frames in the left and right direction at predetermined intervals in the front and rear of the left and right vertical pitching frames 16.

The pitching frame 27 is provided with the pitching vertical frame 16.
By attaching the front horizontal shaft 21 mounted on the body frame 1 side to the body frame 1, the body is mounted so that the rear portion thereof is relatively up and down with respect to the body frame 1.

A stay 28 is provided at the rear end of the pitching vertical frame 16, and a horizontal shaft 29 is provided on the stay 28, and the upper end of the connecting arm 30 in the axial direction is fixed to the shaft 29.

A lower arm 31 for pitching is provided at a lower end of the connecting arm 30.
From the horizontal axis 32. Lower arm for pitching
31 is fixed to a shaft 33, and the shaft 33 is attached to the body frame 1 side.

The base of the pitching upper arm 34 is fixed to the pitching lower arm 31, and the pitching lower arm 31 is fixed.
And the pitching upper arm 34 constitute an L-shaped pitching arm 35 as viewed from the side.

The tip of the pitching upper arm 34 is located above the body frame 1 and the pitching cylinder 36
The tip of the rod 37 is axially mounted.

38 is a switching valve of the left rolling cylinder 23,
39 is the upper left solenoid of the switching valve 38, 40 is the lower left solenoid, 41 is the switching valve of the right rolling cylinder 23, 42 is the upper right solenoid of the switching valve 41, 43 is the lower right solenoid,
44 is a switching valve of the pitching cylinder 36, 45 is a front upper solenoid of the switching valve 44, and 46 is a front lower solenoid.

47 is an engine, 48 is a continuously variable transmission provided on the engine 47, 49 is an operation lever of the continuously variable transmission 48, and a vehicle speed control cylinder 50 for automatically operating the operation lever 49 is connected to the operation lever 49. 51 is a switching valve of the vehicle speed control cylinder 50,
52 is a speed increasing solenoid, and 53 is a deceleration solenoid.

In this case, the traveling speed of the aircraft is reduced when it is determined that the operation by the automatic control of the pitching mechanism cannot be performed in time by the vehicle speed detection sensor 7 and the ground height detection sensor 6 in the case of the above-mentioned ridge crossing of the present invention. The vehicle speed control cylinder 50 includes a vehicle speed detection sensor 7 and a ground height detection sensor 6.
Is controlled so as to be automatically reduced in accordance with the signal (1).

Although the ground height detection sensor 6 is provided in the reaping unit 3, a sensor capable of detecting a state in front of the traveling device 4 and predicting a sudden change in attitude of the aircraft is provided at a predetermined position of the aircraft. It does not matter what kind and mounting position.

In the figure, 54 is a left / right tilt detection sensor, 55 is a control unit, and 56 is a lever position detection sensor that detects the position of the operation lever 49.

Further, when the pitching mechanism is operated to bring the body frame 1 into the rearward descent state, the left and right rolling cylinders 23 are extended, and the body frame 1 is moved upward.
The rear part of the body frame 1 does not interfere with the traveling device 4.

(Operation) Next, the operation will be described.

The body is advanced, the culm is harvested, and threshing is performed. When the body frame 1 is tilted left and right due to unevenness in the field, the left and right tilt detection sensor 54 provided at the desired position of the body detects the left and right tilt of the body, for example, The right rolling cylinder 23 is expanded and contracted, and the rear rolling arm 13 and the front rolling arm 19 are rotated about the horizontal shafts 15 and 21 by the expansion and contraction of the rolling cylinder 23, so that the traveling frame 11 is a vertical frame for pitching. 16, the endless crawler 9 is moved down, and the vertical frame 16 for pitching is moved up,
The body frame 1 is rolled so as to correct the left-right inclination and maintain the body frame 1 horizontally.

Thus, when the body tilts back and forth, when the front-back tilt detection sensor 5 provided at the desired position of the body detects the front-back tilt of the body, the control unit 55 expands and contracts the pitching cylinder 36,
The pitching upper arm 34 of the pitching arm 35 is rotated by the expansion and contraction of the pitching cylinder 36, and the pitching upper arm 34 rotates the pitching lower arm 31 about the shaft 33, and the rear side of the pitching frame 27. Is raised and lowered about the front horizontal axis 21 to level the aircraft.

However, if the pitching mechanism crosses the ridge in a pitching state in which the body frame 1 is raised by the front-rear inclination detection sensor 5, the reaping unit 3 will protrude into the field, so that the ground provided on the reaping unit 3 When the height detection sensor 6 predicts a sudden change in the attitude of the body over the ridge, the pitching mechanism is operated in its original state to prevent the reaping unit 3 from rushing into the field.

That is, when the front of the traveling device 4 is lowered forward, the ground height detection sensor 6 predicts that the state of the traveling surface is lowered forward, and the control unit 55 lowers the pitching cylinder 36 by reducing it. The output is performed to prevent a large forward leaning posture immediately after the vehicle crosses the ridge, thereby preventing the reaping unit 3 from plunging.

In this case, if it takes time for the automatic control of the pitching mechanism, the operation of the pitching mechanism may not be in time for crossing the ridge. However, in the present invention, the ground height detection sensor 6 predicts that the attitude of the aircraft changes. Then, the control unit 55 calculates the operation time by the automatic control of the pitching mechanism by the vehicle speed detection sensor 7 and the ground height detection sensor 6, and when it is determined that the operation of the pitching mechanism cannot be performed in time to cross the ridge, the switching valve The deceleration solenoid 53 of 51 is turned on, the switching valve 51 extends the vehicle speed control cylinder 50, and the operation lever 49 is automatically tilted to continuously change the transmission 47 of the engine 47.
To reduce the traveling speed of the aircraft.

(Effect) As a prior application of the present application, a threshing device, a mowing unit, a traveling device having a pitching mechanism, and a front-rear inclination detecting sensor for automatically controlling the pitching mechanism are provided, and the vertical inclination detecting sensor moves up and down. On the other hand, pitching control has been proposed.

When the combine is lowered from the truck, a steep bridge is used. However, when the slope is steep, the reaper may pierce the ground when the combine is completely lowered. A similar phenomenon occurs when crossing a row during mowing. In particular, over a ridge of a combine having a pitching mechanism, the terrain is raised immediately before the ridge is crossed, so that a large forward leaning posture occurs immediately after the ridge is crossed, and a rush occurs.

However, the present invention provides a threshing device 2, a reaper 3, a traveling device 4 having a pitching mechanism, a front-rear inclination detecting sensor 5 for automatically controlling the pitching mechanism, and a ground height capable of detecting a change in attitude in the vertical direction of the body. And the height detection sensor 6 is configured to predict the state of the running surface in advance, and to output a lowered vehicle speed when the vehicle is lowered forward, and to detect a vehicle speed at a desired position. A sensor 7 is provided, and the vehicle speed detection sensor 7 and the traveling device 4 are connected so that the traveling speed of the traveling device 4 is automatically reduced when the posture change by the ground height detection sensor 6 cannot be made in time. Since it is an automatic control device for the traveling device of the combine, If the state of the running surface of the ground height detection sensor 6 is predicted to be lowered forward, the pitching mechanism is output to be lowered beforehand, so that the large forward leaning posture immediately after crossing the ridge is corrected. And the reaping unit 3 is prevented from plunging.

B. When the vehicle speed detection sensor 7 provided at a desired position determines that the posture change by the ground height detection sensor 6 cannot be made in time, the traveling speed of the traveling device 4 is automatically reduced to a low speed, and the posture change is performed. The cutting operation is surely performed to prevent the reaping unit 3 from sticking.

This has the effect.

[Brief description of the drawings]

1 is a state diagram before the ridge crossing, FIG. 2 is a state diagram after the ridge crossing, FIG. 3 is a state diagram after the ridge crossing without pitching control, FIG. 4 is a side view of the traveling device, FIG. FIG. 6 is a circuit diagram, FIG. 6 is a hydraulic mechanism diagram, and FIG. 7 is an operation state diagram of the traveling device. DESCRIPTION OF SYMBOLS 1... Body frame, 2... Drafting device, 3.
4 traveling device, 5 front and rear inclination detection sensor, 6 height detection sensor to ground, 7 vehicle speed detection sensor, 9 endless crawler, 10 guide wheel, 11 traveling frame, 12
… Rear horizontal mounting shaft, 13… Rear arm for rear rolling, 14…
… Lower arm, 15… rear horizontal axis, 16… vertical frame for pitching, 17… upper arm, 18… front horizontal mounting axis, 19… front rolling arm, 20… lower arm, 21 … Front horizontal axis, 22… Upper arm, 23… Rolling cylinder, 24… Rod, 26… Connecting rod, 27… Pitching frame, 28… Stay, 29… Axis, 30… Connecting arm, 31 Lower arm for pitching, 32 Horizontal axis, 33
… Shaft, 34… upper arm for pitching, 35… arm for pitching, 36… cylinder for pitching, 37… rod, 38… switching valve, 39… upper left solenoid, 40…
… Bottom left solenoid, 41… switching valve, 42… top right solenoid, 43… bottom right solenoid, 44… switching valve, 45
... front upper solenoid, 46 ... front lower solenoid, 47 ... engine, 48 ... continuously variable transmission, 49 ... operating lever, 50 ...
... Vehicle speed control cylinder, 51 ... Switching valve, 52 ... Speed increasing solenoid, 53 ... Deceleration solenoid, 54 ... Left and right inclination detection sensor, 55 ... Control unit, 56 ... Lever position detection sensor.

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int. Cl. ⁶ , DB name) A01D 67/00-69/00 303

Claims (1)

(57) [Claims] 1. A threshing device 2, a reaping unit 3, a traveling device 4 having a pitching mechanism, a forward / backward tilt detection sensor 5 for automatically controlling the pitching mechanism, and a ground height capable of detecting a change in the vertical attitude of the aircraft. And the height detection sensor 6 is configured to predict the state of the running surface in advance, and to output a lowered vehicle speed when the vehicle is lowered forward, and to detect a vehicle speed at a desired position. A sensor 7 is provided, and the vehicle speed detection sensor 7 and the traveling device 4 are connected so that the traveling speed of the traveling device 4 is automatically reduced when the posture change by the ground height detection sensor 6 cannot be made in time. Automatic control device for the combined traveling equipment.