JPH0565126B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a reaping pretreatment device on a traveling machine body equipped with a pair of left and right traveling devices, and drives the reaping pretreatment device up and down with respect to the traveling machine body. The present invention relates to a combine harvester that is provided with a reaping lifting/lowering drive means and a traveling unit lifting/lowering driving unit for independently driving the left and right traveling units up and down with respect to the traveling machine body.

[Conventional technology]

In this type of combine harvester, when one of the left and right running devices falls into a ridge or the like during work in the field and the running body attempts to tilt in the left-right direction, at least one of the running devices is raised and lowered relative to the running body, It has the feature of being able to maintain the traveling aircraft in a desired left/right tilted position, and in particular, if a control form that maintains the traveling aircraft in a horizontal position is adopted, the ground pressure applied to the left and right traveling devices can be equalized, resulting in good straight-line performance. At the same time, there is an advantage that the sorting performance can be improved because the sorting parts are less unevenly distributed in the swing sorting part of the threshing device.

[Problem to be solved by the invention]

An object of the present invention is to attach a reaping pretreatment device to a traveling machine so that it can be raised and lowered, and to rationally set the control related to the raising and lowering so that the ground posture of the reaping pretreatment device and the ground posture of the traveling machine can be adjusted without any trouble. The point is to provide something that can be controlled.

[Means to solve the problem]

The characteristic configuration according to the present invention is that a pair of left and right traveling devices are independently attached to the traveling machine body so that they can be driven up and down within a certain range, and a reaping height detecting means for detecting the height of the pre-reaping device above the ground; An inclination angle detecting means for detecting a left and right inclination angle of the traveling machine with respect to a horizontal reference plane, and a traveling device height detecting means for detecting a height of the left and right traveling device with respect to the traveling machine body, and from the reaping height detecting means actuating the reaping lift drive means to maintain the reaping pretreatment device at a predetermined height above the ground based on the information;
In order to maintain the horizontal inclination angle of the traveling aircraft at a set inclination angle based on information from the inclination angle detection means and the traveling device height detection means, and maintain the reference height relative to the aircraft by both traveling devices at the set height. A control means for operating the traveling device elevating and lowering drive means is provided, and the control means is configured to control the elevating and lowering of the reaping pretreatment device when the one of the traveling device elevating and lowering driving means reaches an operating end. activating the reaping elevating drive means to increase the elevating speed of the reaping preprocessing device to a high speed, and to switch the elevating speed of the reaping preprocessing device to a low speed when both of the traveling device elevating drive means are not located at the operating end; The functions and effects are as follows.

[Effect]

Since the reaping pretreatment device can be raised and lowered relative to the traveling machine body, the height of the reaping pretreatment device above the ground can be independently set by the reaping lift drive means, regardless of the height of the traveling machine body above the ground.

Moreover, the left and right inclination angle of the traveling body with respect to the horizontal reference plane can be maintained at the set inclination angle by setting the left and right traveling devices at different heights relative to the traveling body, and the left and right traveling devices can be adjusted by the same amount. By raising and lowering them in the same direction, the reference heights of both traveling devices relative to the aircraft can be switched without changing the left and right inclination angles.

However, due to the stability of the aircraft, the amount of elevation of the traveling gear relative to the aircraft is limited to within a certain range, and one of the traveling gears has reached the lifting end and cannot be raised or lowered any further. The height of the traveling device relative to the aircraft body may not be the set height. If it is necessary to change the cutting height in such a situation, the lifting speed of the cutting pre-processing device should be adjusted to compensate for the insufficient lifting amount when the traveling device does not reach the set height. Set to high speed.

〔Effect of the invention〕

Therefore, the pre-reaping treatment device can be moved up and down quickly, and the height can be quickly adjusted to the set height.

Also, if both traveling devices are not at the lifting end,
Since the ascending and descending speed of the reaping pretreatment device is suppressed to a low speed, the overshoot phenomenon at the set height is reduced, and control is stabilized.

〔Example〕

As shown in FIG. 7, the reaping device is equipped with a pulling device 1, a reaping device 2 that reaps the grain culm pulled up by the pulling device 1, and a rear conveyance device that conveys the harvested grain culm toward a rear threshing device 3. The pre-processing device 5 is attached to a traveling body 7 equipped with a pair of left and right crawler traveling devices 6, 6 so as to be swingable up and down about a horizontal support shaft by means of an elevating cylinder, thereby forming a combine harvester.

Next, a structure for attaching the left and right crawler traveling devices 6, 6 to the traveling body 7 will be explained. As shown in FIG. 7, a track frame 11 in the main frame of the traveling body 7, which is in a forward and backward orientation, is connected and fixed. A drive sprocket 12 and a tension sprocket 13 are fixedly attached to the front and rear ends of the track frames 11, 11, respectively. The track frame 11 has a pair of front and rear movable frames 1 that pivotally support a plurality of reversing wheels 14 laterally and outwardly.
5A and 15B are mounted so that they can move up and down relative to each other.
A large-diameter idler wheel 16 is located at an intermediate position of the group of idler wheels 14 and is movable up and down on the track frame 11.
is supported.

The front and rear movable frames 15A and 15B include
Front and rear bell cranks 17A and 17B are respectively attached to the truck frame 11 so as to be vertically swingable, and the front and rear bell cranks 17
A and 17B are connected by a connecting rod 18, and
A lifting cylinder 19 for rolling is connected to the other end of the rear bell crank 17B, so that the front and rear movable frames 15A, 15B are raised and lowered by the same amount in the same direction.

A height sensor 20 for a volume-type traveling device that detects the amount of rocking of the rear bell crank 17B is provided, and the detected value from this height sensor 20 is input to a control device 21 to control the volume-type vehicle on the hand side. The rolling lift cylinder 19 with a control valve 29 adjusts the vehicle height to the vehicle height setting value of the height setting device 22.
The relative height of the movable frames 15A, 15B to the track frames 11, 11 can be changed. In this case, the vehicle height set value by the vehicle height setting device 22 represents the height of one of the traveling devices 6 relative to the traveling body 7, and is for the traveling device located higher than the traveling body 7.

On the other hand, when setting the tilted posture of the traveling body 7, the traveling body 7 is
The height of the movable frames 15A and 15B corresponding to the traveling device 6 located below is adjusted, and the horizontal inclination angle of the traveling body 7 with respect to the horizontal reference plane (ground) is set using the inclination setting device 28. Rolling can be controlled by a rolling lifting cylinder 19 with a control valve 29 so as to maintain the same value. The rolling cylinder 19 is referred to as a traveling device elevating drive means for driving the left and right traveling devices 6, 6 up and down independently with respect to the traveling body 7.

The traveling device height sensor 20 is referred to as traveling device height detection means for detecting the height of the left and right traveling devices 6, 6 with respect to the traveling body 7.

The gravity type inclination sensor 23 is referred to as inclination angle detection means for detecting the left and right inclination angle of the traveling aircraft 7 with respect to the horizontal reference plane.

The control device 21 is referred to as a control means. As described above, the sensors 20, 23, various setting devices 22, 28,
The control device 21 for these is referred to as rolling control means 31.

Incidentally, a volume-type elevation detection sensor 24 is provided at the transverse support shaft portion of the reaping pre-processing device 5 to which the traveling machine body 7 is pivoted.
The height above the ground of the reaping pre-processing device 5 is determined based on the detected value from the ultrasonic height above the ground sensor 33 provided near the hoisting frame. height),
Elevation control (cutting height control) is possible by the lifting cylinder 8 with the control valve 30 so as to maintain the cutting height within the range set by the cutting height setting device 35. The elevating cylinder 8 is referred to as a reaping elevating drive means for driving the reaping pretreatment device 5 up and down relative to the traveling machine body 7.

The ground height sensor 33 is referred to as cutting height detection means for detecting the ground height of the cutting pretreatment device 5.

The rolling lifting cylinder 19 is driven by pulses, and when both the left and right cylinders 9 operate simultaneously, the ON time is set alternately to reduce the capacity of the hydraulic pump (not shown).

Based on the above configuration, the elevating and lowering control of the crawler traveling device (movable frame) will be explained with reference to the flowcharts in FIGS. 5A and 5B. The rolling lift cylinder 19 is provided with limit switches 25, 25 at the movable stroke ends, and when the limit switch 25 is activated, the tilt angle cannot be greater than the tilt angle determined by this limit position, so the tilt angle warning lamp 34 is activated. At the same time, if the tilt angle is set while the limit switch 25 is activated, the vehicle height will be different from the set value. High warning lamp 2
Turn on 6. In the control flow, first, it is confirmed that both warning lamps 26 and 34 are not lit, and the left and right traveling device 6 is set by the vehicle height setting device 22.
The height of either one of the anti-traveling aircraft 7 is set, and the position information is read from the height sensors 20, 20 for the traveling device, and the value is displayed on the LED type position display devices 27, 27. automatically.
The manual control mode is selected by the changeover switch 32 (step). In the step, the target value shown in the figure is calculated. As shown in FIG. 6, the combine angle α ₁ is an angle when the traveling devices 6, 6 are already inclined with respect to the traveling body 7 at the time of starting the control. Then _, the rolling lifting cylinder ₁₉
A target angle α ₄ for operation is calculated, and an operation length (target length) of the rolling lifting cylinder 19 is calculated (step).

Once the target length is determined, it is determined whether it can be covered by the maximum stroke (variable length) range of the rolling lifting cylinder 19, and if this target length is larger than the variable length, this variable length is set as the target length and the above-mentioned The tilt angle warning lamp 34 indicates that the rolling lifting cylinder 19 is at the stroke end (step).

Next, + or - of the target angle α ₄ is determined. + refers to the case where the traveling body 7 is tilted to the right;
- indicates opposite operation. In the case of +, the target position of the left traveling device 6 is calculated from the vehicle height setting value + target length, and if this target position exceeds the stroke range of the left rolling lifting cylinder 19, the target position of the left traveling device 6 is calculated from the vehicle height setting value + target length. The target position is set to the maximum stroke position (upper limit position) of the cylinder 19, and the target position of the right traveling device 6 is set to a position where the cylinder length is shorter than the maximum stroke position by the target length. Further, when the target position of the left traveling device 6 falls within the stroke of the rolling lifting cylinder 19, the target position of the right traveling device 6 is set to the vehicle height setting value, and the target position of the left traveling device 6 is set to the vehicle height setting value. Set the position to the vehicle height setting plus the target length. When the rolling lifting cylinder 19 reaches the stroke end, the vehicle height has not reached the set value.
The vehicle height warning lamp 26 is turned on. When the angle α ₄ is negative, the procedure opposite to the case when the angle α 4 is positive can be performed (step).

Once the target positions of the left and right traveling devices 6, 6 are determined as described above, the rolling lifting cylinder 19 is
The required operating length (correction length) is determined, and the dead band α
If the length exceeds this, the operation of the rolling lifting cylinder 19 is stopped, and if it exceeds this, the rolling lifting cylinder 19 is operated by the corrected length (step).

Next, when switching to manual control using the changeover switch 32, control is performed so that the target angle becomes the value set by the inclination angle setter 28. As described above, the series of control flows are repeated every short period of time (for example, 10ms),
It stops when it converges to the dead band α.

Next, the elevation control of the reaping pretreatment device 5, that is,
Mowing height control will be explained in detail. As shown in Figures 1 and 4, the height sensor above the ground (cutting height sensor)
The information from 33 is taken in and the average cutting height is calculated.
For example, if there are 10 detection values that are taken in order, this cutting height average value is fixed at 10 and is averaged based on these 10 values, so that every time a new detection value is taken in, the old detection The values are removed from the calculation target in order, and a new average value is calculated. The deviation between this cutting height average value and the set value from the cutting height setter 35 is determined, and the lifting cylinder 8 is driven (step). If the deviation is +, it is determined whether or not the rolling lifting cylinder 19 is located at the working end, and if it is the working end, the lifting signal output timing to the lifting cylinder for the reaping pre-processing device 5 is changed to short-term ( In other words, the drive duty to the control valve 30 is increased), the rising speed of the reaping pretreatment device 5 is increased, and the rolling lifting cylinder 1 is increased.
If 9 is not at the operating end, the output timing is made long and the rising speed of the reaping pretreatment device 5 is slowed down. If the deviation is within the dead zone, the lifting and lowering of the reaping processing device 5 is stopped. Moreover, if the deviation is -, the procedure opposite to that in the case of + may be performed.

In the above, the control valve 30, the elevating cylinder 8, etc. are referred to as means 36 for switching the elevating speed of the reaping pretreatment device 5 to a high speed. In this cutting height control as well, the procedure of repeating the above-described control flow at short intervals is the same as in the case of rolling control.

[Another example]

B. In the embodiment described above, only the free wheel body 14 is moved up and down, but the crawler traveling device 6 as a whole may be moved up and down.

(b) The actuator of the crawler traveling device 6 may be configured by combining a pneumatic cylinder or screw mechanism with an electric motor or the like.

○C The traveling device 6 may be a tire type instead of a crawler type, and its type is not specified.

○D The combine harvester may be of the whole culm input type.

○E Furthermore, the setting value by the vehicle height setting device 22 may be one that sets the average height position of the left and right traveling device 6. In this case, the vehicle height set value plus 1/2 target length is set as the target position of both traveling devices 6, 6.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the combine harvester according to the present invention, FIG. 1 is a configuration diagram showing the control means for rolling control and cutting height control, FIG. 2 is a front view showing the operation panel, and FIG. 4 is a flowchart of cutting height control; FIGS. 5A and 5B are flowcharts of rolling control; FIG. 6 is a schematic rear view showing the rolling attitude of the traveling machine; FIG. 7 is a schematic overall side view. 6... Traveling device, 7... Traveling machine body, 5... Reaping pretreatment device, 8... Reaping lifting drive means, 19...
Traveling device elevation drive means, 20... Traveling device height detection means, 21... Control means, 23... Inclination angle detection means, 31... Rolling control means, 33... Reaping height detection means, 36... Reaping A means of rapidly switching pretreatment equipment.

Claims (1)

[Scope of Claims] 1. A reaping pretreatment device 5 is provided on a traveling machine body 7 equipped with a pair of left and right traveling devices 6, and a reaping lifting drive means 8 for driving the reaping pretreatment device 5 up and down with respect to the traveling machine body 7 and a traveling device elevating drive means 19 for independently driving the left and right traveling devices 6 up and down with respect to the traveling machine body 7, the pair of left and right traveling devices 6 are independently moved up and down from the traveling machine body 7. A reaping height detecting means 33 is installed to be movable up and down within a certain range relative to the reaping machine 7, and detects the height of the pre-reaping treatment device 5 above the ground, and detects the horizontal inclination angle of the traveling machine body 7 with respect to the horizontal reference plane. and traveling device height detecting means 20, 20 for detecting the height of the left and right traveling devices 6, 6 with respect to the traveling machine body 7. to operate the reaping lifting drive means 8 to maintain the reaping pretreatment device 5 at a predetermined height above the ground. a control means 21 for operating the traveling device elevating drive means 19, 19 in order to maintain the horizontal inclination angle of the traveling body 7 at the set inclination angle and the reference height relative to the body by both the traveling devices 6, 6 to the set height; and the control means 21 is configured to control the lifting speed of the reaping pre-processing device 5 related to the lifting control of the reaping pre-processing device 5 when the one of the traveling device elevating drive means 19 reaches the operating end. The mowing device is configured to operate the reaping elevating drive means 8 at high speed and to switch the elevating speed of the reaping pretreatment device 5 to a low speed when both of the traveling device elevating drive means 19 are not located at the operating end. A combine harvester.