JPH0671385B2 - Combine rolling device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of use] The present invention provides a traveling machine body with a pair of left and right traveling devices.
Elevating and lowering driving means for separately moving up and down the grounding parts of the pair of left and right traveling devices with respect to the traveling body, inclination angle detecting means for detecting a left and right inclination angle of the traveling body with respect to a horizontal reference plane, and information on the inclination angle detecting means. Based on the above, the present invention relates to a combine rolling device, which is provided with an inclination angle control means for operating a lifting drive means so as to maintain a horizontal inclination angle of a traveling machine body at a set inclination angle.

[Conventional technology]

Proposed by the present applicants as a combine rolling device having the above-described structure (for example, Japanese Patent Application No. 61-138791).
(Japanese Patent Laid-Open No. 62-294009), the dead band width in the target range is either "upper output" that raises the traveling body or "lower output" that lowers the traveling body. However, it was set to the same width.

[Problems to be solved by the invention]

In the case of raising and lowering the traveling machine body in this way, the influence of the weight of the traveling machine body cannot be neglected, so even if an attempt is made to stop by a stop signal when lowering, the stoppage delay is likely to occur due to the inertial force of the traveling vehicle body. Therefore, if the dead zone width in the target area (stop position) is set small, it is difficult to converge and a hunting phenomenon will occur. On the other hand, when it is raised, the weight of the traveling machine body acts as a braking force, so that the stop response is good, and if the dead zone width is set wide, the stop accuracy becomes poor. Therefore,
Although the dead band width is made large by giving priority to the control convergence, it is not possible to avoid the deterioration of the control accuracy.

It is an object of the present invention to provide a device that can perform tilt angle control accurately and stably by setting a dead zone width according to the ascending / descending state of the traveling machine body.

[Means for solving problems]

The characteristic configuration of the rolling device of the combine according to the present invention is that the dead band width in the target range when the "lower output" is issued to move the grounding portion of the traveling device upward to lower the traveling aircraft. There is provided a switching means for setting the dead zone width to be larger than the dead zone width in the target area when "upper output" for raising the traveling machine body by raising the traveling machine body is operated by lowering the region.

[Action]

In other words, when the weight of the traveling machine body acts as an inertial force, the dead band width is made larger in consideration of the stop delay than that during the ascending operation to improve the stopping convergence and the weight of the traveling machine body as the braking force. By reducing the dead zone width during the ascending operation, it is possible to improve the stopping accuracy with respect to the target value.

〔The invention's effect〕

By setting the dead zone in consideration of the weight of the traveling body, the tilt angle can be controlled more finely, the stability of the control can be ensured, and the accuracy of the tilt control can be improved. As a result, we can provide effective products.

〔Example〕

As shown in FIG. 2, the raising device (1), the reaping device (2) for reaping the grain culms raised by the raising device (1), and the conveyance of the reaped grain culm to the rear threshing device (3). The reaping pretreatment device (5) equipped with a rear transport device is freely swingable up and down by a lifting cylinder around a lateral support shaft on a traveling machine body (7) equipped with a pair of left and right crawler traveling devices (6), (6). It is attached to and configured as a combine.

Next, the mounting structure of the left and right crawler traveling devices (6) and (6) to the traveling machine body (7) will be described. As shown in FIG.
A drive sprocket (12) and a tension sprocket (13) are attached and fixed to the front and rear ends of each of the track frames (11) and (11) in the main frame in the front-rear direction constituting the traveling body (7), and next to them. A pair of front and rear movable frames (15A) and (15B) pivotally supporting a plurality of idler wheels (14) are mounted so as to be vertically movable relative to each other, and an intermediate position of the idler wheels (14) group. A large diameter idler wheel (16) is supported on the track frame (11) so as to be vertically swingable. The front and rear movable frames (15A) and (15B) include
The front and rear bell cranks (17A) and (17B) pivotally supported so as to be vertically swingable are mounted on the track frame (11), and the front and rear bell cranks (17A) and (17B) are connected by a connecting rod (18). Connected and rear bell crank (17
The other end of B) is connected with a lifting cylinder (19) for rolling as a lifting drive means for lifting and lowering the grounding parts of the pair of left and right traveling devices (6) with respect to the traveling machine body (7), Accordingly, the front and rear movable frames (15A) and (15B) are moved up and down in the same direction by the same amount, so that the grounding portions of the traveling device (6) can be individually elevated relative to the traveling machine body (7).

As shown in FIG. 2, the upper and lower limit switches (see FIG. 3) for detecting the stroke ends of both the cylinders (19) and (19) are provided on the two lifting cylinders (19) and (19) for rolling. 25a) and (25b) are provided, the detected value from this is input to the control device (21), and the gravity type inclination angle as an inclination angle detecting means for detecting the horizontal inclination angle of the traveling body (7) with respect to the horizontal reference plane. Based on the detection value of the detection sensor (23), as shown in FIG. 1, the horizontal inclination angle of the traveling body (7) with respect to the horizontal reference plane (ground) is maintained at the setting value from the inclination setting device (22). Thus, the rolling control is provided by the rolling lifting cylinder (19) with the control valve (24). In this case, only the ground contact portion of one traveling device (6) is moved up and down. Above, limit switches (25a), (25b), sensor (23), setting device (2
2) and the control device (21) for controlling them are referred to as automatic tilt angle control means (4).

In addition, the inclination angle control is performed by arbitrarily raising or lowering the grounding portions of the traveling devices (6) and (6) based on the detection result of the stroke sensor (20) such as a potentiometer that detects the operation amount of the rolling cylinder (19). Manual priority tilt angle control means (27)
A switch (8) for switching between the automatic tilt angle control means (4) and the automatic tilt angle control means (4) is provided, and a threshing switch (9) for detecting the operation of the threshing device (5) is provided, and these switches (8) and (9) are used. When the automatic tilt angle control means (4) is turned off depending on the detection result, or the threshing device (3)
If the vehicle stops operating, both traveling devices (6), (6)
It is configured to operate the traveling machine lower limit control means (10) for locating the ground contact portion of the vehicle at the lower limit (25b), (25b) positions and switching the traveling machine (7) to the lower limit position. Switches (8), (9) and limit switch (25
The b), (25b), the rolling elevating cylinder (19), and the like are referred to as traveling vehicle lower limit control means (10).

When the manual priority switch (26) is operated,
The ground portions of both traveling devices (6) and (6) operate in opposite directions at the same time. In other words, this manual priority lever switch (2
As shown in FIG. 1, 6) is a cross swing type, and when it is swung left and right, the ground portions of the traveling devices (6) and (6) simultaneously move up and down in opposite directions to move in that direction. When the traveling machine body rolls and swings back and forth, the ground portions of the traveling devices (6) and (6) simultaneously move up and down in the same direction, and the traveling machine body (7) moves up and down. When such a manual priority switch (26) is operated to the left or right, an arbitrary tilt angle can be set, and the manual priority switch (26), the control valve (24), etc. are connected to the manual priority tilt angle control means (27). To call.

The automatic tilt angle control means (4), the manual priority tilt angle control means (27), and the traveling machine body lower limit control means (10) are referred to as tilt angle control means (28).

A control flow by the tilt angle control means (28) is shown based on the above configuration. As shown in FIGS. 4 (a) and 4 (b), each flag and other predetermined values are initialized and the ON / OFF state of the manual priority lever switch (26) is checked. To do. When it is ON, the automatic tilt angle control means (4)
And if the threshing device (3) is in operation, the automatic flag is "1".
Set up to perform automatic tilt angle control. Detection value from inclination angle detection sensor (23) of traveling machine body (7) and inclination angle setting device (22)
The set value from is taken in and the two are compared to calculate the declination (step I). This declination indicates in which direction the machine body is inclined. Here, (+) is the upper right state and (-) is the upper left state. Here, the tilt setting device (2
2) Determine whether or not was operated. In other words, the fact that the tilt setting device (22) is operated means that the operator wants to change the tilt angle arbitrarily to adjust the tilt angle more finely. Therefore, the set value by the tilt setting device (22) is set. Change (| ΔY |) is larger than 0.24 °, and if it is larger, the adjustment flag is set to “1” and the dead zone width (V = 0.15 °) in the target range is reduced. Activate the angle control means. If the amount of change (| ΔY |) is smaller than 0.24 °, the adjustment flag remains "0" and the automatic tilt angle control means is executed (step II).

The dead zone width is 0.25 ° when automatic tilt angle control is performed. If the declination is (+), first determine whether the lower right lower limit switch (25b) is operating, and if it is operating, "upper left output" (the contact point of the left traveling device (6) When the right lower limit switch (25b) is not activated, the declination angle (V) again causes the dead band width (0.5) to be output. If it is larger than the dead band width, "lower right output" (the right-hand traveling device (6) touches up the ground contact part with respect to the traveling body (7) and raises the traveling body (7). Output). In other words, the dead band width is increased from 0.25 ° to 0.5 ° when "lower output" is produced.
As described above, the means for switching the dead zone width between the descending time and the ascending time is provided in the mechanism for determining the declination.

On the other hand, if the declination is (-), the procedure opposite to that for (+) may be performed.

From the above, when the declination is in the dead zone (≈0) or in the dead zone, at least until the lower limit switch (25b), (25b) on either the left or right side is actuated, the lifting cylinder (19), "Lower right output, lower left output" is issued to shorten (raise) (19) (step III).

If the adjustment flag is "1", it is considered that the tilt setter (22) has been operated, and the dead zone width is reduced to 0.15 °, and the declination (-) (+) is judged. Check to see if the right lower limit switch (25b) is
If it is not working, it will output “lower right output” (in this case, the dead band width is 0.15 ° unchanged), and if it is working, “upper left output” will be output. When the declination is (-), the opposite procedure may be performed. When the declination is in the dead zone, the adjustment flag is returned to "φ" (step IV).

Next, when the automatic tilt angle control means (4) or the threshing device (3) is not operating (represented by the automatic flag "φ" or the threshing flag "φ"), the lower limit flag is "φ" or " If it is "φ", it is not necessary to perform the lower limit control. If the lower limit flag is "1", the lower left and right lower limits (25b), (2
Output "Low output" until 5b) is activated. When the left and right lower limit (25b) and (25b) are activated, the lower limit flag is set to "φ" (step V).

Further, when the manual priority switch (26) is operated, the ground contact portions of the left and right traveling devices (6), (6) can be operated arbitrarily. That is, the manual priority switch (26) is a free swing type, as shown in FIG. Here, if you operate this switch (26) to the left, "upper right output""lower left output"
Thus, the ground contact portions of the left and right traveling devices (6) and (6) can be simultaneously moved up and down in opposite directions, and can be further tilted leftward in preference to the automatic tilt angle control. When the switch (26) is operated to the right side, the traveling machine body (7) is further tilted to the right by "lower right output" and "upper left output". When the switch (26) is operated to the front side, the left and right traveling devices (6) and (6) are operated by the "lower right output" and the "lower left output".
Simultaneously and in the ascending direction, the ground contact portion of (6) is operated.
When the switch (26) is operated to the rear side, "upper right output"
"Upper left output" is output, and left and right traveling devices (6), (6)
The grounding parts of the are simultaneously operated in the descending direction (Step V
I).

For the above outputs, the electromagnetic solenoid is set to ON-OFF to operate the corresponding control valve (24) (step VII).

[Another embodiment]

When the dead band width is changed between "upper output" and "upper output", the numerical values (0.25 °, 0.15 °) are not limited to those described above. As such dead band width switching means, there is means for changing the reference voltage of the comparison circuit.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 shows an embodiment of a rolling device for a combine according to the present invention. FIG. 1 is a control configuration diagram, FIG. 2 is a side view of the combine, and FIG. The rear view shown in FIGS. 4A and 4B is a control flow diagram. (6) …… Traveling device, (7) …… Travel vehicle, (19) ……
Lifting drive means, (23) …… Inclination angle detection means, (28) ……
Tilt angle control means.

Claims (1)

[Claims] 1. A pair of left and right traveling devices (6) is provided on a traveling machine body (7), and a grounding portion of the pair of left and right traveling devices (6) is vertically moved with respect to the traveling machine body (7). Lifting drive means (19) and inclination angle detection means (2) for detecting the horizontal inclination angle of the traveling machine body (7) with respect to the horizontal reference plane.
3) and the information of the inclination angle detection means (23),
A rolling device for a combine, comprising: an inclination angle control means (28) for operating the elevating drive means (19) so as to maintain the horizontal inclination angle of the traveling machine body (7) at a set inclination angle, The dead band width in the target range when the "lower output" for raising the ground contact portion of the traveling device (6) to raise the aircraft and lowering the traveling aircraft (7) is output is the grounding of the traveling device (6). A combine rolling device provided with switching means for setting the dead zone width to be larger than the dead zone width in the target area when "upper output" for raising the traveling machine body (7) is generated by lowering the region against the machine body.