JPH0621295Y2 - Attitude control device for combine harvesters - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to a combine attitude control device.

(B) Conventional technology Conventionally, in a combine, as seen in the rear of JP-A-60-159118, JP-A-51-145724, and JP-A-53-98135, a traveling machine body and a left and right crawler are provided. Between them, an elevating mechanism such as a hydraulic cylinder is provided, and an inclination sensor for detecting the left and right inclination of the traveling machine body is provided. The inclination sensor detects the left and right inclination of the traveling machine body, and the elevating mechanism is adjusted based on the detected value. There is a posture control device that is operated to maintain the posture of the traveling machine body at a preset left-right inclination angle, and also to maintain the cutting height of the grain stem at a constant level by holding the cutting device at a predetermined ground height.

(C) Problems to be Solved by the Invention However, since the left / right tilt control operation of the traveling machine body and the ground clearance maintaining operation of the mowing device are performed independently of each other, these operations interfere with each other, and When the tilt control operation and the mowing device lowering operation are performed simultaneously, there is a drawback that the lower side end of the mowing device may plunge into the ground.

In order to solve these drawbacks, as shown in Japanese Patent Laid-Open No. 61-257113, one that is designed to prevent the plunge into the soil by increasing the speed of raising and lowering the reaper than the rolling speed of the machine to prevent plunging into soil. As shown in Japanese Patent Laid-Open No. 61-2240, when rolling the reaping unit manually, only the ground height sensor on the side that descends when rolling is operated to prevent plunge into the soil. Things are being considered. .

However, if the raising and lowering speed of the reaper is simply increased than the rolling speed, for example, when the reaper is in a high position while the machine is tilted, the reaper is lowered and rolled in the opposite direction of the machine. , Since the descending speed of the mowing unit is faster than the rolling speed, there is a risk that the mowing unit will descend and the side edge of the mowing unit will plunge into the soil before the inclination of the machine is corrected. In the case of rolling, only the ground height sensor on the side that descends when rolling is activated not only does not automatically correct the inclination of the aircraft, but it also requires a ground height sensor at least at both ends of the mowing section. This is disadvantageous in terms of cost, and the mowing unit starts to move up after it senses that the height above ground is low, so the height control tends to be delayed, or the control becomes unstable due to the delay in operation. Become There is Rukoto.

(D) Means for Solving the Problems In the present invention, the lower left and right sides of the traveling machine body are equipped with crawlers that can be raised and lowered, and the inclination sensor for detecting the lateral inclination of the traveling machine body is provided. Based on the above, the crawler is moved up and down to control the posture of the traveling body to a preset left and right inclination angle, and the ground height sensor is installed in the harvesting device connected to the traveling body to detect the height of the ground height sensor. Based on the detected value, in a combine equipped with a control device configured to raise and lower the mowing device with respect to the traveling body to maintain a predetermined ground clearance, the raising operation speed of the mowing device is higher than the raising and lowering operation speed of the crawler. The speed is increased, and the left and right tilt angles are controlled by calculating from the values detected by the tilt sensor, the height sensor, and the distance from the ground height sensor to the side edge of the reaper. When the side end of the mowing device on the cutting side is predicted to fall below a predetermined ground clearance, the combine attitude control device is provided to perform control to raise the mowing device. .

(E) Action / Effect In the present invention, the raising operation speed of the mowing device is made higher than the ascending / descending operation speed of the crawler, and the detection value of the inclination sensor, the detection value of the ground clearance sensor and the side end of the mowing device From the distance and the ground height sensor, the amount of descent at the side edge of the cutting device is calculated.

Then, it is possible to predict whether or not the side edge of the reaping device becomes lower than a predetermined ground clearance based on the amount of descent.

Then, based on the above prediction, when there is a risk that the side end of the mowing device plunges into the ground, the danger can be prevented by raising the mowing device at a speed higher than the lifting operation speed of the crawler.

In this way, by calculating the amount of descent of the mowing device side end from the detection value from each sensor, it is possible to predict whether or not the mowing device side end plunges into the ground before performing the control operation. , Because it raises the reaper based on this prediction,
It is possible to prevent the reaping device from plunging into the ground quickly and reliably, hold the set left-right inclination posture of the traveling machine body, and make the reaping device hold a predetermined ground clearance.

(F) Embodiment An embodiment of the present invention will be described in detail with reference to the drawings.
In FIG. 1, (A) shows a combine, and (1) is a traveling machine body, and a pair of left and right crawlers (2) and (2) which are vertically moved with respect to the traveling machine body (1) are arranged below.

At the front end of the machine frame (3) of the traveling machine body (1), a mowing device (5) is mounted so as to be able to move up and down via the machine frame (4). A grass body (6) and a cutting blade device (7) are provided behind it, a grain culm raising device (8) is provided on the front face, and a grain culm transport device (9) is provided behind it.

On the top of the aircraft frame (3), attach the left feed chain (1
A threshing device (11) with 0) is provided, a paddy tank (12) for accumulating threshed grains is provided on the right side, and an operation product (13) is provided in front of it.

In addition, the prime mover (E) is installed on the traveling machine body (1),
Power from (E) is transmitted to the mowing device (5) and the threshing device (11) through the mission case (14), and the left and right sprockets (16) are rotatably supported by the machine body frame (3). (16)
The crawler tracks (17) (17) of the left and right crawlers (2) (2) are driven via the.

The left and right crawlers (2) and (2) are, as shown in FIGS. 1 and 2, track tracks (18) each having a hollow rectangular shape in the front and rear direction
, A tension sprocket (20) biased rearward via biasing means (19) such as a coil spring that is connected to the rear end of each track frame (18), and the bottom surface of each track frame (18). It is composed of a plurality of idler wheels (22) each of which is rotatably supported.

Note that (26) and (27) are attached to the body frame (3) by the first and second wheels.

Further, a pair of left and right longitudinal chassis (30) is provided below the body frame (3), and support shafts (33) (33) are provided at appropriate front and rear positions of each chassis (30) via brackets (31) (31). The front and rear bell cranks (32) and (32) are rotatably fitted onto the respective support shafts (33) and (33), and the rear ends of the bell cranks (32) and (32) are The chassis (30), the front and rear bell cranks (32) (32), and the track frame (35) are pivotally attached to the support shafts (35) (35) protruding from the inside of the track frame (18). 18) and the parallel link mechanism, and the upper ends of the bell cranks (32) (32) are connected by the connection (34), and the upper ends of the left and right bell cranks (32) (32) and the fuselage frame (3). The left and right hydraulic cylinders (36) (37) are respectively installed between the hydraulic cylinders (36) (37).
Left and right track frames (18) (18)
The traveling machine body (1) can be tilted left and right by independently moving up and down.

In addition, the left hydraulic cylinder (36) has the same hydraulic cylinder (3
Limit switches (36a) (36b) that output when 6) reaches the stroke end of extension and contraction are arranged.

In addition, the body frame (3) of the traveling body (1) and the mowing device (5)
A hydraulic cylinder (38) that operates at a higher speed than the hydraulic cylinders (36) and (37) for tilting the traveling machine body (1) left and right is provided between the machine frame (4) and the The reaping device (5) is moved up and down by the expansion and contraction operation of the hydraulic cylinder (38), and a ground height sensor (S2) such as an ultrasonic distance sensor is provided on the lower bottom surface of the center of the reaping device (5) to increase the ground level. The detection value h'of the sensor (S2) is input to the control device (C).

FIG. 3 shows the tilt sensor (S1) arranged on the body frame (3). The tilt sensor (S1) has a shaft (43) in the front-rear direction inside the case fixed to the body frame (3). Erected and coaxial
The apex of a substantially fan-shaped pendulum (44) is rotatably supported by (43), and a projector (46) and a light receiver (47) are arranged on both sides of the pendulum (44). The light from the projector (46) that passes through the opening (45) formed in (44) is received by the light receiver (47), and the amount of that light is converted into a voltage, so that the left and right sides of the traveling body (1) are Detects tilt,
The detection value k'is output to the control unit (C) described later, and the opening (45) is formed in a substantially triangular shape so that the pendulum (44) is formed as shown in FIG. Tilt angle and receiver
The output voltage of (47) is adapted to correspond linearly.

As shown in FIG. 5, the control unit (C) includes a microprocessor (MPU), an input interface (I), an output interface (O), and a memory (M which stores the control program shown in the flowchart of FIG. ) And the input interface (I) has a tilt sensor (S1) and a mowing device (5).
Height sensor (S2) to detect the ground clearance of the vehicle and the traveling vehicle (1)
Angle setting device (S3) for setting the tilt angle of the
Ground height setting device (S4) for setting the ground height of (5) and limit switches (36a) (36b) arranged on the left hydraulic cylinder (36)
The output interface (O) is connected to the left and right hydraulic cylinders (36) that control the left and right tilt of the traveling vehicle (1).
(37) and a hydraulic cylinder that controls the ground clearance of the reaper (5)
Electro-hydraulic control valve (50) (51) (52) for controlling expansion / contraction of (38)
The solenoids (53) (54) (55) of are connected. Note that (56)
Is a hydraulic pump.

Next, the operation of the attitude control device of the present invention will be described based on the flowchart of FIG.

When the combine (A) is started, the above control program starts (s 100), and the set value k of the tilt angle setting device (S3) and the set value h of the ground clearance setting device (S4) are loaded (s 10
1).

Next, the detected value k ′ of the tilt sensor (S1) and the ground clearance sensor
The detection value h'of (S2) is fetched (s102).

Next, when the left and right tilt control is performed based on the detection value k ′ of the tilt sensor (S1), the lowering side edge d of the cutting device (5) is calculated based on the following equation (s 103 ).

d = | L * sin (k−k ′) | L is the distance between the ground clearance sensor (S2) and the end of the mowing device (5).

Next, the detection value h ′ of the ground clearance sensor (S2) is used as the left side, and the value obtained by adding the safety margin m to the above descent amount is used as the right side for comparison (s104). When the left side is larger (s105),
In other words, the ground clearance of the mowing device (5) is sufficiently high,
When there is no danger of the side edge of the slamming into the ground, the hydraulic cylinder (38) is expanded or contracted with the setting value h of the height setting device (S4) set as a target to perform feedback control of the height of the reaper (5). Do (s 106).

In addition, in (s104), when the left side is smaller than the right side (s107), the ground clearance of the cutting device (5) is low, and there is a risk that the side end of the cutting device (5) will plunge into the ground. Therefore, the hydraulic cylinder (38) is extended to raise the ground clearance of the mowing device (5) (s
108).

Next, the set value k of the tilt angle setter (S3) and the tilt sensor
When the detected value k ′ of (S1) is compared (s109) and they are not equal (s110), the inclination of the traveling vehicle body (1) is determined (s11).
1), if it is tilted to the left (s 112), the hydraulic cylinder to the left
It is judged by turning ON / OFF the limit switch (36a) whether (36) has reached the stroke end on the extension side (s 11
3) If the cylinder (36) has not reached the stroke end on the extension side (s 114), extend the left hydraulic cylinder (36) (s 115), and then return to (s 101) ( s 124).

If the left hydraulic cylinder (36) has reached the extension stroke end (s 116), the right hydraulic cylinder (37)
Contract (s 117), and then return to (s 101) (s 12
Four).

Also, in (s 111), if the traveling vehicle (1) is tilted to the right (s 11
8), limit switch for operating position of left hydraulic cylinder
Detected in (36b) (s119), if the left hydraulic cylinder (36) has not reached the contraction side stroke end (s120),
The left hydraulic cylinder (36) is contracted (s121), and then the process returns to (s101) (s124).

If the left hydraulic cylinder (36) has reached the contraction side stroke end (s122), extend the right hydraulic cylinder (37) (s123), and then return to (s101) ( s 124).

The embodiment of the present invention is configured as described above, and the raising operation speed of the mowing device (5) is made higher than the ascending / descending operation speed of the crawler (2), and prior to the left / right tilt angle control operation, From the distance (L) from the ground height sensor (S2) to the side end of the mowing device (5) and the detected value k ′ of the inclination sensor (S1), the lower side end of the mowing device (5) is lowered. When the amount (d) is calculated and this amount of descent (d) is larger than the detection value h ′ of the ground clearance sensor (S2), it is determined that the mowing device (5) has a risk of plunging into the ground, By setting the mowing device (5) to rise based on such a prediction judgment, the setting was performed while quickly and reliably preventing the mowing device (5) from plunging to the ground due to the left / right tilt angle control operation. The traveling body (1) can be held in the left-right inclined posture, and the reaper (5) can be made to maintain a predetermined ground clearance.

[Brief description of drawings]

1 is an overall side view of a combine having an attitude control device according to the present invention, FIG. 2 is a sectional view taken along line I-I of FIG.
3 is an explanatory view of the tilt sensor, FIG. 4 is a graph showing the output characteristics of the tilt sensor, FIG. 5 is a block diagram showing the configuration of the control device, and FIG. 6 is a flow chart of the control program. (A): Combine (C): Control device h ': Detected value k': Detected value (S1): Inclination sensor (S2): Ground height sensor (1): Traveling vehicle (2): Crawler (5): Mowing apparatus

Claims (1)

[Scope of utility model registration request] 1. A crawler (2) (2) that can be raised and lowered is provided on the lower left and right sides of the traveling machine body (1), and an inclination sensor (S1) for detecting the lateral inclination of the traveling machine body (1) is provided. Inclination sensor (S1)
The crawler (2) (2) is moved up and down based on the detected value k'of the traveling body (1) so that the posture of the traveling body (1) is controlled to a preset left-right inclination angle and the traveling body (1) is controlled. A ground clearance sensor (S2) is installed in the connected harvesting equipment (5), and the harvesting equipment (5) is moved up and down with respect to the traveling vehicle body (1) based on the detection value h'of the ground clearance sensor (S2). In a combine (A) equipped with a control device (C) configured to maintain a predetermined ground clearance, the raising operation speed of the mowing device is made higher than the raising and lowering operation speed of the crawlers (2) and (2). At the same time, calculation from the detected value k ′ of the tilt sensor (S1), the detected value h ′ of the ground clearance sensor (S2), and the distance (L) from the ground clearance sensor (S2) to the side end of the reaper (5). When it is predicted that the side edge of the mowing device (5) on the descending side due to the left-right tilt angle control operation will fall below a predetermined ground clearance, control to raise the mowing device is performed. Combine attitude control device according to claim Ukoto.