JP2000300045A - Combine attitude control device - Google Patents

Abstract

(57) Abstract: A pair of left and right traveling devices, a pair of right and left lifting drive means for adjusting the left and right supporting height of a body supported by the traveling device, and a vehicle for detecting the left and right supporting height of the body. High sensors,
In a conventional combine equipped with a horizontal sensor that detects the horizontal inclination angle of the aircraft, when the various devices such as the threshing device are turned off and the auger is completely stored in the auger rest, it is recognized as the non-working range only when the auger is completely stored. Since the process is shifted to the process, there is a problem that it takes much time to move to the agarest, and the working efficiency is greatly reduced. SOLUTION: Position sensors 75, 76 capable of detecting the horizontal rotation position and the elevation height of the auger 41 are provided, and the retreat of the auger 41 to the non-working range is completed based on the detection results of the position sensors 75, 76. After confirming the above, it is possible to shift to the work end control 62 for lowering the vehicle height in order to run on a road or cross a ridge after the work is completed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle height control at the end of a work (hereinafter referred to as "work end control") in a combine having an auger and controlling the inclination angle of the body.

[0002]

2. Description of the Related Art A conventional combine which controls the left-right inclination angle of a body is adapted to raise or lower one of the right and left sides of the traveling device when the body is tilted to the left or right during work in a field. Is maintained in a desired left-right inclined posture. In particular, if the machine is set to be kept horizontal, the cutting height on the left and right sides will be the same during mowing work, and the variation in the length of the grain stalk will be reduced, improving the mowing performance and swinging and sorting the threshing equipment. The sorting performance can be improved by reducing the uneven distribution of the sorting object in the part.

[0003] Also, when traveling traveling without performing the harvesting work,
In other words, when traveling on the road or crossing the shore after completing threshing work, etc. (hereinafter referred to as “end of work”), the support height on both the left and right sides of the aircraft should be the lowest limit, and the height of the center of gravity of the aircraft To ensure running stability and prevent falls. Further, a means for detecting whether or not various devices such as a threshing device are operating is provided. When the device is stopped, it is determined that the operation is completed, and the low attitude control of the aircraft is automatically performed as described above. Is also known.

However, in such a combine, when the harvesting operation is completed and the grains in the grain tank are discharged from the auger to a grain transport truck or the like, the operator avoids noise and vibration accompanying threshing. For this reason, there is a case where the threshing device is turned off, at this time, the controller judges that the work is completed and automatically activates the low attitude control means, as a result, the aircraft suddenly descends from the auger installed on the aircraft. There is a fear that the grain is discharged to an unintended place, or that the auger comes into contact with a truck for transporting the grain or an operator near the truck.

As means for solving such a problem, there is provided a detecting means which is turned on by pressing or the like when the auger is stored in the auger storage which is an auger storage part, and the switch is turned on when the auger is placed on the auger rest. By doing so, it is possible to determine whether or not the auger is present in the agarest, even if the switch of various devices such as threshing device is turned off, unless the auger is stored in the agarest, the low attitude control means Does not work.

[0006]

However, as described above, only when the auger is in the auger rest, it is determined that the work is completed and the low attitude control is performed. Until the loading operation is completed, the operation cannot be shifted to the operation end control. Therefore, the operation time is extended by the moving time, and when the discharging operation is restarted, the auger is lifted from the auger rest again. Therefore, it is necessary to perform horizontal rotation to a proper position, and there is a problem that work efficiency is inferior. Also, as described above, in a mechanism in which the auger is rotated to the auger rest and mounted, and the position is detected only when the switch is pressed, the auger mounting position is slightly displaced and the switch is not turned on. There is also a problem that the storage of the auger may not be recognized in some cases.

[0007]

The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described. That is, in claim 1, a pair of left and right lifting drive means for changing the left and right support height of the body,
In a combine equipped with a vehicle height sensor for detecting the horizontal support height of the fuselage, a horizontal sensor for detecting the horizontal tilt angle of the fuselage, control means for setting the horizontal tilt angle of the fuselage, and a discharge auger, A position sensor for detecting the horizontal rotation position of the auger is provided, the non-working position of the auger is set, and the shift to the work end control for lowering the vehicle height when the auger is at the non-working position is enabled.

According to a second aspect of the present invention, a pair of left and right driving means for changing the right and left support height of the body, a vehicle height sensor for detecting the left and right support height of the body, and a horizontal sensor for detecting the left and right inclination angle of the body. And a control means for setting the machine body to the left and right set inclination angles, and a combine sensor provided with a discharge auger, a position sensor for detecting the elevation height of the auger is provided, and the non-working position of the auger is set. This makes it possible to shift to work end control in which the vehicle height is lowered when the vehicle is at the work position.

According to a third aspect of the present invention, a pair of left and right driving means for changing the left and right support height of the body, a vehicle height sensor for detecting the left and right support height of the body, and a horizontal sensor for detecting the left and right inclination angle of the body. And a control means for causing the body to have a set left and right inclination angle, and a means for detecting a rising end position of the auger in a combine provided with a discharge auger, and lowering the vehicle height when the auger is at the rising end position. This makes it possible to shift to work end control.

According to a fourth aspect of the present invention, a pair of left and right driving means for changing the left and right support height of the body, a vehicle height sensor for detecting the left and right support height of the body, and a horizontal sensor for detecting the left and right inclination angle of the body. And control means for setting the machine body to the right and left set inclination angle; means for detecting a threshing "off" position in a combine provided with a discharge auger; and means for detecting a non-working position of the auger. When the vehicle is at the threshing “off” position and at the non-working position, the processing shifts to work end control for lowering the vehicle height.

[0011]

Next, an embodiment of the present invention will be described.
FIG. 1 is a side view showing an overall configuration of a combine according to the present invention, FIG. 2 is a partial cross-sectional side view of a crawler type traveling device, and FIG.
FIG. 4 is a partial plan view, FIG. 5 is a side view showing an interlocking structure of a vehicle height sensor, a stroke sensor, and an elevating cylinder, FIG. 6 is a plan view, and FIG. 8 is a plan view, FIG. 9 is a control block diagram, FIG. 10 is a control block diagram showing attitude control means, FIG. 11 is a control block diagram showing auger turning control means, and FIG. 13 is a plan view showing a configuration example of the panel, FIG. 13 is a system configuration diagram of the entire attitude control, FIG. 14 is a flowchart of the attitude control, FIG. 15 is a flowchart of the manual attitude control, FIG. 16 is a flowchart of the overall vehicle height control, FIG. 17 is a flowchart of the tilt angle control, and FIG.
8 is a flowchart of the automatic attitude control, FIG. 19 is a flowchart of the work end control, FIG. 20 is an explanatory diagram of the non-working position of the auger horizontal rotation position, and FIG. FIG. 22 is a side sectional view of the base of the horizontal auger cylinder.

First, the overall structure of the combine will be described with reference to FIGS. As shown in FIGS. 1, 7, and 8, an elevating device,
A mowing unit 3 including a mowing device for mowing the culm caused by the raising device and a transporting device for conveying the culm to the threshing device 35 is arranged. The mowing unit 3 is supported by the mowing frame 4, and is moved up and down. It is rotatable. A reaper supporting shaft 5 is rotatably mounted on the machine body 2 in a horizontal direction in the left and right direction. The reaping frame 4 is fixed to the reaper supporting shaft 5, and the reaper 3 is connected to the reaper. It is configured to be able to swing up and down around the support shaft 5. The mowing frame 4 is connected to a mowing height adjusting elevating cylinder 6, and the mowing part 3 is driven up and down by the expansion and contraction operation of the cylinder 6.

As shown in FIGS. 2 to 4, a pair of left and right crawler type traveling devices 7L and 7R at the lower part of the body 2 are provided.
A drive sprocket 10 disposed on the front side of the body frame 8 via a traveling transmission device 81 at the lower front of the body, a track frame 9 connected to the body frame 8 via a swing link mechanism 82 described later, And the tension sprocket 11 attached to the drive sprocket 1 and the driving sprocket 1
, And a rubber crawler belt 83 wound around the outer peripheral surfaces of the idler wheels 12, 12... And the tension sprocket 11, and the driving sprocket 10 is driven by power from the traveling transmission device 81 to drive the crawler belt. 8
3 is driven to rotate.

3 and 4, the swing link mechanism 8
2 will be described. Bearings 86 and 87 are provided inside connecting horizontal frames 84 and 85 fixed to the front and rear lower portions of the body frame 8.
, And the support shafts 88 and 89 are horizontally mounted on the bearings 86 and 87. The central portions of the front and rear bell crank links 13a and 13b serving as swing links are pivotally supported by the front and rear support shafts 88 and 89, and the bell crank links 13a and 13b are formed substantially in an L shape in side view. The bell crank link 13a
The front and rear lateral pivot shafts 90 and 91 projecting from the track frame 9 are pivotally supported at the rear lower part of the bell crank link 1b.
A coupling member 92 is interposed between the upper portions of the bell crank links 3a and 13b, and the coupling members 92 are connected to the attitude control elevating cylinders 15L and 15R as actuators serving as elevating and lowering driving means to transmit driving force. 13a ・ 13b
Is rotated about the support shafts 88 and 89, and the track frame 9 is moved up and down with respect to the body frame 8. At this time, the vehicle height of the body is adjusted by raising and lowering the track frames 9 of the left and right crawler traveling devices 7R and 7L in the same direction, and horizontal control is performed by raising and lowering the left and right track frames 9 separately. is there.

The rotation of the bell crank links 13a and 13b and their initial positions will be described with reference to FIGS. As shown in FIGS. 3 and 4, the connecting member 92 is fixed to one end of a front connecting rod 14a that forms a telescopic rod at one of the upper ends of the front and rear bell crank links 13a and 13b (in the present embodiment). The provided bracket 93 is pivotally supported via a pivot pin 94, and a thread groove is formed in the other end of the front connection rod 14a, and is screwed into one end of a cylindrical turnbuckle 14b to turn the turnbuckle 14b.
The other end (rear end) of the rear connection rod 14c is screwed into the bell crank link 13b (or 13a) via the connection plate 95. Are linked. The total length of this connecting member 92 is equal to the length of the front connecting rod 14a into the turnbuckle 14b.
The total length of the connecting member 92 can be adjusted by adjusting the screwing position of the end of the rear connecting rod 14c.

The connecting plate 9 constituting the connecting member 92
5 is connected to the operation side (extendable rods) of attitude control elevating cylinders 15L and 15R as actuators for elevating and lowering, and drives the attitude control elevating cylinders 15L and 15R to move up and down the bell crank links 13a and 13b. It is moved. That is, the connection plate 95
As shown in FIG. 5 and FIG. 6, the plate body is formed in a substantially Z-shape in a side view to form a pair of two parallel members.
A lower front part of the connection plate 95 is fixed along the rear part of the rear connection rod 14c bent rearward and downward from a middle part of 4c, and the attitude control lifting cylinders 15L and 15R are provided along the inclination of the rear part of the rear connection rod 14c. It is arranged to be inclined backward and downward. The posture control elevating cylinders 15L and 15R are pivotally connected at their bases to a bracket 96 fixed to the body frame 8 via fulcrum pins 97, and the ends of the telescopic rods of the posture control elevating cylinders 15L and 15R are connected to the connecting plate 95. It is pivotally supported via a pivot pin 98 between the rear portions. Further, an upper end of the bell crank link 13 b is pivotally connected to a rear portion of the connection plate 95 via a connection pin 99. The positions of the pivot pin 98 and the connecting pin 99 at which the bell crank link 13b and the end of the telescopic rod of the attitude controlling elevating cylinder 15L / 15R are pivotally supported by the connecting plate 95 are substantially the same as those of the attitude controlling elevating cylinder 15L / 15R. It is arranged so as to be located on the extension line.

Conventionally, therefore, the bell crank link 13b pivotally supported by the support shaft 89 and the attitude control elevating cylinder 15L during the initial stage of extension of the attitude control elevating cylinders 15L and 15R.
The direction of expansion and contraction of the 15R is at a right angle, and the angle between the two becomes acute as the elongation is extended, and unnecessary power is required. However, in the embodiment of the present invention, the vehicle height control is most frequently performed. Are slightly raised and the two are at right angles to each other.
-The force from 15R is efficiently and reliably transmitted to the bell crank link 13b. In addition, the thrust action lines of the attitude control elevating cylinders 15L and 15R substantially coincide with the trajectory (the trajectory of the point of application of force) of the pivotal position (the coupling pin 99) of the coupling plate 95 and the bell crank link 13b. The bending stress applied to the connecting plate 95 is reduced to increase the durability.

The attitude control lift cylinder 15L
The 15R is provided with stroke sensors 17L and 17R for detecting the expansion and contraction of the cylinder, as shown in FIGS. That is, the attitude control lifting cylinder 15
The end of the telescopic rod of L · 15R protrudes upward from the upper end of the connecting plate 95, and a substantially U-shaped engaging ring 100 as an engaging member is fixedly provided on the protruding upper portion. The engagement ring 100 is provided with a stroke sensor 1 such as a potentiometer fixed to the body frame 8 side.
The 7L / 17R sensing arms 17a are directly inserted and engaged without the intervention of a link mechanism. This stroke sensor 17L / 17R uses the elevation cylinder 1 for attitude control.
The amount of expansion / contraction of 5L / 15R is detected, and the detected value is input to a controller 18 serving as control means described later and calculated, whereby the amount of rotation of the bell crank links 13a / 13b, that is, the vehicle height is obtained.

Here, the U-shaped engagement ring 100 for engaging the sensing arm 17a is fixed in a loop shape on the side surface of the distal end portion of the telescopic rod of the attitude control elevating cylinder 15R, so that the rigidity is enhanced. As a result, the vehicle height can be accurately determined by the vehicle height sensor 17 via the sensing arm 17a. Furthermore, since the engagement ring 100 directly engages the sensing arm 17a, a plurality of link mechanisms can be eliminated as in the related art, so that the number of components can be reduced, and the cost can be reduced, and at the same time, the space is advantageous. Configuration. Further, as shown in FIG. 1, a horizontal sensor 16 is disposed at an appropriate position of the body 2, and the horizontal sensor 16 detects the left-right inclination angle of the body 2.

As shown in FIGS. 7 and 8, in the threshing device 35, while the root of the grain culm conveyed by the conveying device is pinched by the feed chain 36 and conveyed rearward, the handling drum 37 Is carried out for grain shedding. A sorting device is disposed below the shell removing device 35, and the second product after being sorted by the sorting device is returned to the handling cylinder 37 or the processing cylinder again.
Glen tank 39 arranged at the rear of operation unit 19 via
Transported to A lower conveyor 40 is provided at a lower portion in the Glen tank 39 in the front-rear direction, and the lower conveyor 40 is configured by a screw conveyor.
The rear end of the auger 41 is communicated with a discharge auger 41 for discharging kernels, and the auger 41 is composed of a vertical auger cylinder 42 that feeds vertically and a horizontal auger cylinder 43 that communicates with an upper part thereof in the horizontal direction.

The vertical auger cylinder 42 and the horizontal auger cylinder 43 accommodate a screw conveyor in the cylinder, a discharge port 44 is provided at the tip of the horizontal auger cylinder 43, and the other end of the lower conveyor 40 is powered by an engine 45. Power is transmitted via a transmission mechanism or the like to drive a conveyor in the auger 41. By this driving, the grains in the Glen tank 39 are discharged from the discharge port 44 via the lower conveyor 40 and the auger 41. A base of a horizontal auger cylinder 43 is attached to the upper part of the vertical auger cylinder 42 so as to be freely rotatable up and down. A lifting cylinder 46 and an auger lifting sensor 76 are provided between the vertical auger cylinder 42 and the horizontal auger cylinder 43. The horizontal auger cylinder 43 can be rotated up and down by driving the elevating cylinder 46 to expand and contract, and the height of the discharge port 44 can be adjusted. The height is detected by the auger elevating sensor 76. .

The vertical auger cylinder 42 is connected to the lower pipe 4
2a and an upper pipe 42b.
An upper pipe 42b is rotatably supported on the upper side, and an auger rotation sensor 75 is disposed between the upper pipe 42b and the lower pipe 42b.
The other end of a is fixedly mounted on the rear surface of the Glen tank 39, and a large-diameter gear 47 is integrally fixed on the outer periphery of a middle part of the upper pipe 42b. The small-diameter gear fixed to the shaft is meshed with the turning motor 48.
, The small-diameter gear is rotated, the vertical auger cylinder 42 is rotated via the large-diameter gear 47, and the horizontal auger cylinder 43 is turned in the horizontal direction. This rotation is detected by the auger rotation sensor 75. The threshing device 35
An auger rest 49 is arranged at a diagonal position of the fuselage on the upper side to support a middle part of the lateral auger cylinder 43, and this position is a storage position.

Next, the control structure of the attitude control means and the auger turning control means in the combine having the above-described overall structure will be described with reference to FIGS. 1 and 9 to 12. As shown in FIG. 9, the attitude control means 32 and the auger turning control means 33 are both connected to the controller 18, and both the switch / sensor sections 32a and 33a and the driving section 3
2b and 33b.

The attitude control means 32 will be described with reference to FIGS. 1, 10, and 12. FIG. The stroke sensors 17L and 17R and the horizontal sensor 16 are a controller 1
8 and the controller 18 as described above.
Is based on the detected values of the stroke sensors 17L and 17R.
Is calculated. In the tilt angle control described later, the controller 18 controls the horizontal sensor 1
6 so that the absolute left-right inclination angle of the body 2 obtained from the detected value of 6 is a predetermined set value, and in the overall vehicle height control, the calculated height of the body with respect to the ground is a predetermined set value. , Lift cylinders 15L and 15R for both attitude control
Is controlled to expand and contract.

An operation panel 20 is provided on the operation section 19 of the combine, and a volume-type left / right tilt angle setting device 22 is disposed on the operation panel 20. The left / right tilt angle setting device 22 has a knob. By turning it, the attitude control elevating cylinders 15L and 15R are expanded and contracted, so that the degree of the lateral inclination of the body 2 can be adjusted. FIG. 12 shows a configuration example of the operation panel 20. The left / right tilt angle setting device 22 is connected to the controller 18, and the controller 18 reads the set value, and controls the expansion / contraction of the attitude control elevating cylinders 15L and 15R based on the set value as described above.

At an appropriate position on the mowing portion support shaft 5, a mowing portion elevating sensor 23 composed of an angle sensor or the like is provided to detect the relative height of the mowing portion 3 with respect to the machine body 2. A cutting height sensor 24 such as an ultrasonic sensor is provided at the center position of the body 2 in a front view and on the lower surface of the cutting device.
Is provided, and the absolute height of the cutting device with respect to the ground (that is, the cutting height of the grain stalk) is detected. These two sensors 23 and 24 and the cutting height adjusting lifting / lowering cylinder 6 are connected to the controller 18, and are used for adjusting the cutting height so that the detection value of the cutting height sensor 24 becomes a predetermined set value. The elevating cylinder 6 is controlled to expand and contract. The operating section 19 has a cutting height setting device 25.
Is provided so that the cutting height of the grain stalk can be adjusted by turning this knob. The cutting height setting device 25 is connected to the controller 18, and the controller 18 controls the extension and retraction of the cutting height adjusting cylinder 6 based on the setting value of the cutting height setting device 25 as described above.

The operation panel 20 is further provided with an automatic attitude control switch 26 for switching between automatic and manual attitude control. The automatic attitude control switch 26 is connected to the controller 18. The controller 18 detects “ON / OFF” of the automatic attitude control switch 26 and selects whether to perform automatic attitude control or manual attitude control based on the detection result.

In addition to the automatic attitude control switch 26, a manual control method capable of forcibly switching the control mode from automatic to manual even during automatic attitude control to respond flexibly to various work attitudes is provided. An operation lever 34 is provided and connected to the controller 18. The manual operation lever 34 can be tilted forward, backward, left and right. By tilting forward, the both-position control elevating cylinders 15L and 15R are simultaneously contracted to lower the vehicle height, and by tilting rearward, both-position control is performed. The lift cylinders 15L and 15R are simultaneously extended to raise the vehicle height. When tilted to the left, both or one of the attitude control elevating cylinders 15L and 15R can be controlled to extend and contract to tilt left, and tilt right to tilt right. The lever allows manual operation of the vehicle height and the inclination angle. In addition, 30.3
.. Indicate a vehicle height indicating lamp indicating the vehicle height level of the body.

On the other hand, regarding the auger turning control means 33,
This will be described with reference to FIGS. The operation unit 19 is provided with an up switch 50 and a down switch 51, a left turning switch 52 and a right turning switch 53, and an auger clutch on / off switch 54. The turning motor 48 is provided with an auger rotation sensor 75, The lifting cylinder 46 is provided with an auger lifting sensor 76 and an auger upper limit switch 111, both of which are connected to the controller 18. The auger rotation sensor 75, the auger elevation sensor 76
Is composed of a potentiometer, a rotary encoder and the like. A turning motor 48 is connected to the controller 18 via a drive unit 55. The turning motor 48 is driven forward and reverse by operating the turning switches 52 and 53, and the horizontal auger cylinder 43 is turned. ing. The controller 18 also includes the lifting cylinder 4
6, an electromagnetic valve 56 for switching the supply of pressure oil to the pressure switch 6 is connected to the elevation switch 50/5.
1 is operated, and the horizontal auger cylinder 4 is switched.
3 can be moved up and down.

Further, in order to prevent the auger from rotating due to inertia during turning, the motor is connected to an actuator 57 including a motor or a solenoid or a cylinder for turning on / off an auger clutch for braking when the turning motor 48 is stopped. By operating the auger clutch on / off switch 54, the actuator 57 is operated, the auger clutch is turned on, the lower conveyor 40 is driven to discharge the grains in the grain tank 39, and the auger clutch is turned off. Driving can be stopped. The operation section for the auger turning control is not limited to such an airframe 2, and as shown in FIG. It can also be provided on the side surface or the like.

Further, the horizontal rotation position and the elevation height of the auger 41 that performs such elevation and turning are detected by the auger rotation sensor 75 and the auger elevation sensor 76.
The controller 18 determines whether the auger 41 is in the non-working range. Here, the non-working range is
Although the details will be described later, the auger 41 installed on the fuselage 2 can be used by the truck 58 and the worker 77 even if the body 2 is controlled to descend in a range where the discharging operation using the auger 41 is impossible. The horizontal rotation position and the elevation height of the auger 41 in which trouble such as contact does not occur.

The attitude control of the airframe having the above configuration will be described with reference to FIGS.
This will be described below. It should be noted that Y in the figure indicates a case where the condition in the diamond-shaped judgment symbol matches (YES), and N indicates a case where the condition does not match (NO). As shown in FIGS. 13 and 14, the overall attitude control is roughly divided into automatic attitude control 59, manual attitude control 60, automatic standby control 61, and work end control 62.
There are various types, and switching between the controls is automatically performed in accordance with the relationship between turning on / off the manual operation lever and each switch and whether or not the auger 41 is within the working range. That is, when both the threshing switch 28 and the automatic attitude control switch 26 provided near the threshing clutch lever are turned on (S1, S2), the connected controller 18 detects this. The process proceeds to the automatic attitude control 59 (64).

Then, during the execution of the automatic attitude control 59, when the manual operation lever 34 is tilted to the front, rear, left or right and turned "ON" (S4), the manual operation lever 34 is connected to the manual operation lever 34. The controller 18 detects this and temporarily stops the automatic attitude control 59, and as a result, shifts to the automatic standby control 61 (65). Further, during the automatic standby control 61, when the manual operation lever 34 is returned to the center neutral position and turned “OFF” (S3), the automatic posture control 59 can be immediately returned to (6).
6).

When one of the threshing switch 28 and the automatic attitude control switch 26 is in the "OFF" state (S1, S2).
2) The manual attitude control 60 is performed (63).

In the work end control 62, the vehicle height is lowered to secure running stability and the like. When the work is resumed thereafter, the vehicle height is set to the reference height except when the manual operation lever 34 is operated. Control before resuming work (S
Perform 7). By the control before resuming the work, it is possible to shift to the manual posture control 60 again (69).

An outline of each control will be described with reference to FIGS. In addition, all the control described below is performed based on the reference side support height based on the support height on one of the right and left sides of the airframe. The control based on the height (= right support height) will be described. Therefore, the left support height (=
In the case where the left support height is used as a reference, the left and right may be considered in reverse.

As shown in FIG. 15, the manual attitude control 60 is performed in the order of the overall vehicle height control 70 and the inclination angle control 71. As for the overall vehicle height control 70, as shown in FIG. 16, after the manual operation lever 34 is tilted in the front-rear direction to turn the manual operation switch “ON”, the manual operation lever 34 is further tilted. And the connected controller 18 detects a tilting direction and a tilting angle, and in accordance with a result of the detection, simultaneously operates the elevating / lowering cylinders 15L and 15R for attitude control via a control valve to extend (reduce), The vehicle height is raised and lowered to a desired height (S27).

However, the overall vehicle height control 70 is not performed while the auger 41 is turned up and down or the reaper 3 is driven up and down. A transition is made (S26). This means that if the vehicle height fluctuates, the auger 41 may also move up and down to hit the truck 58 and the worker 77, and also the cutting heights on the left and right become uneven, so that the variation of the grain stalk length increases and the cutting・ This is because threshing performance is deteriorated. The reference-side support height at the time when the overall vehicle height control 70 is performed is stored in a memory as a “reference height”, and is used as a determination value in the later-described tilt angle control 71 and work end control 62 (S28). .

Further, as shown in FIG.
Regarding 1, the horizontal inclination angle of the body is detected by the horizontal sensor 16 attached to the body, and is compared with the inclination angle set by the inclination angle setting device 22 of the operation panel 20 (S25). If the inclination angle is different from the reference angle, the left support height, which is the vehicle height on the opposite side to the reference side, is at the upper limit (S10), and the right support height is at the reference height, and the vehicle is inclined left (down). In this case (S13), the left support height raising / lowering control is performed, the left support height is lowered, and the right support height is stopped (fixed). In the case of inclining right (downward), since the left side cannot be raised, the right support height raising / lowering control is performed, the left support height is stopped, and the right support height is lowered (S14 to S14).
16).

The left support height is at the lower limit (S1
1) When the right support height is equal to the reference height and tilts right (downward) (S12), the left support height elevation control is performed, the left support height is raised, and the right support height is Stopped. In the case of inclining to the left (downward), since the left side cannot be lowered, the right support height elevating control is performed, the left support height is stopped, and the right support height is increased (S
14 to S16). If the left support height is neither the upper limit nor the lower limit (S11), and if the right support height is the reference height, the left support height elevation control is performed, and if the right support height is not the reference height. Is the right support height raising / lowering control, which is controlled in the same manner as described above to achieve the set inclination angle.

As for the automatic attitude control 59, as shown in FIG. 18, the control method is basically the same as the tilt angle control 71 of the manual attitude control 60, but the manual operation lever 34 is controlled so that the desired tilt angle is obtained. If the desired tilt angle is set by the tilt angle setting device 22 instead of tilting the controller, the controller 1 will be adjusted until the tilt angle matches or becomes close to the tilt angle.
8 outputs a system signal. Also,
At the time of the manual attitude control 60, the vehicle height output is sequentially and continuously performed. On the other hand, at the time of the automatic attitude control 59, when the current inclination is far from the target value, the inclination speed is increased by the continuous driving. When the inclination approaches the target value, pulse driving (so-called PWM control) is switched to reduce the inclination speed and increase the setting accuracy. The automatic standby control 61 has the same configuration as the manual attitude control 60 in principle, and is applied to a case where the automatic attitude control 59 is to be temporarily interrupted.

In the work end control 62, as shown in FIG. 19, the "last vehicle height reference end height" is calculated by multiplying the reference side support height immediately before the end of the work by a specific coefficient (S2).
1) Compare the “last vehicle height reference end height” with the lower limit height that is the limit vehicle height that can be lowered mechanically (S22),
If the "last vehicle height reference end height" is higher than the lower limit height, the left and right support heights are raised and lowered to the "last vehicle height reference end height" (S24). Conversely, "the immediately preceding vehicle height reference end height"
Is lower than the lower limit height, both the left and right support heights are raised to the reference height (S23).
Return to the safe initial state immediately after 0.

As described above, when the vehicle height is lowered at the end of the work, the vehicle height is controlled based on the reference side support height immediately before the end of the work. Each time the end is repeated, the vehicle gradually approaches the lower limit height, and the target vehicle height can be predicted in advance and compared with the lower limit height. Can be avoided. The coefficient of the reference-side support height is preferably about 80%, but need not be particularly fixed, and can be changed according to work conditions such as the usual number of work per day. Further, the attitude control elevating cylinders 15L and 15L in the work end control 62 as described above.
As for the method of outputting the vehicle height to the R,
As in the case of 9:00, when the vehicle height is far from the target value, continuous driving is performed, and when the vehicle height approaches the target value, the driving is switched to pulse driving to delay the driving, thereby improving the setting accuracy. I have.

The work pre-restart control S7 is to automatically return the vehicle height to the reference height except for controlling the posture by the manual operation lever 34 when the work is restarted after the work end control 62. As a result, the vehicle height returns to the initial state even if the operator is not particularly conscious, so that the operation for resuming work can be simplified.

The determination as to whether or not the auger 41 is in the non-working range (S5) is specifically performed as follows. First, regarding the horizontal rotation position, the rotation position of the auger 41 is detected by the auger rotation sensor 75 provided on the rotation motor 48. For example, as shown in FIG.
d as a reference position, and from the reference position, the horizontal auger cylinder 4
An auger rotation sensor 75 attached to the turning motor 48 for the vertical auger cylinder 42 detects how many times the vertical auger cylinder 42 that fixes the shaft 3 has rotated.

If the horizontal rotation position detected in this way is within a specific rotation angle range stored in the controller 18, it is determined that the auger 41 is in the non-working range, and the work of the next stroke is performed. The flow shifts to end control 62. Here, the non-working range at the horizontal rotation position refers to the vertical auger cylinder 42
, The fan-shaped area 115 in which the horizontal auger cylinder 43 is turned by a range corresponding to the upper area of the body 2. That is, by positioning the horizontal auger cylinder 43 at least in the sector area 115 which is inside the body 2, even if the vehicle height is lowered too much by the work end control 62, the horizontal auger cylinder 43 is used for transporting kernels. This can prevent problems such as contact with a truck or the like.

The detected horizontal rotation position is determined by the controller 1
If it is not within the specific rotation angle range stored in 8,
The auger 41 is determined to be within the range indicated by the fan-shaped area 110 (hereinafter, referred to as “discharge range”), and the discharge operation can be performed. At this time, if the user wants to end the work, the horizontal auger cylinder 43 is moved to a non-working range indicated by the sector area 115. The movement to the non-working range can be performed manually or automatically. is there. In the case of manual operation, in addition to visually confirming the evacuation completion, an auger evacuation status display means such as a position display lamp and an evacuation completion buzzer is provided on the operation panel 20, and the auger evacuation status display means is used together. Thereby, the operator can confirm the evacuation completion more reliably.

The non-work range of the auger 41 is determined as follows.
In addition to the horizontal rotation position as described above, it can be performed by the elevation height. That is, if the sum of the height of the auger movable base after the manual posture control 60 and the height from the auger movable base to the tip of the auger is within a specific elevation height range stored in the controller 18, the auger 41 is determined to be in the non-working range at the elevating height, and shifts to the work end control 62 of the next stroke.

Here, the height of the auger movable base is
The height from the auger movable base to the auger tip is calculated by the auger elevation sensor 76, which is calculated from the base-side support height detected by the stroke sensor 17 immediately after the manual attitude control 60 and the height of the body 2 itself. It is calculated. In addition, in the present embodiment, the non-working range at the elevating height is, as shown in FIG. 21, the track 5 on the body 2 with the horizontal auger cylinder 43 at the lower limit (109a).
In the state where the vehicle height is lowered by performing the work end control 62 in a state in which the vehicle 8 is closest to the vehicle (109c),
The height of the upper end of the horizontal auger cylinder 43 required to prevent the lower middle part of the horizontal auger cylinder 43 from contacting the truck bed 58a can be changed according to the work situation.
There is no particular limitation. For example, in the case of a type in which the truck bed has an opening on the side surface, the upper edge of the opening restricts the elevation of the horizontal auger cylinder 43.
The upper limit also needs to be considered.

To determine whether or not the auger 41 is within the non-working range based on the height of the auger 41, the auger lift sensor 7
22 in addition to the determination based on the elevation height detected by 6 or the like.
In some cases, the determination is made by turning on / off the auger upper limit switch 11 as shown in FIG. That is, the auger upper limit switch 11
Is fixed on a support base 114 fixed on the upper pipe 42b of the vertical auger cylinder 42, and the base of the horizontal auger cylinder 43 is supported by the support base 114 so as to be vertically rotatable. The tip of the rod 46a of the elevating cylinder 46 whose lower part is swingably attached to the support base 114 is connected to the upper end of the support 112 fixed to the side of the support 112. A pressing plate 113 is fixed to the base of the horizontal auger cylinder 43, and the horizontal auger cylinder 43 pivots upward to move to the lower limit position 109a.
From the pressure plate 11 to the upper limit position 109b.
3 presses the auger upper limit switch 11 to turn on the switch, and the controller 18 determines that the auger 41 has reached the non-working range.

Here, when it is desired to end the work, the horizontal auger cylinder 43 is raised or lowered manually or automatically to the non-working range. In the case of performing manually, in addition to visually confirming that the non-working range, for example, the upper limit has been reached, an auger retreat status display means is provided on the operation panel 20 as in the case of the horizontal rotation, and the retreat status is provided. The evacuation can be performed using the display means as a mark, and it can be determined whether or not the vehicle is within the non-working range.

With the above-described configuration, the horizontal rotation position and the elevation of the auger 41 are monitored by the respective sensors, and even if the threshing switch 28 is turned off, the auger 41 remains in the non-working range. If not, the work is continued as it is, so that the work end control 6 is forcibly performed as in the related art.
It is possible to completely avoid the occurrence of troubles such as the shift to 2 and a decrease in the vehicle height and the contact of the auger 41 with the truck.

[0053]

According to the first aspect of the present invention, a pair of left and right elevating drive means for changing the right and left support height of the body, a vehicle height sensor for detecting the left and right support height of the body, and a right and left inclination angle of the body are determined. A horizontal sensor for detecting, a control means for causing the body to have a set right and left inclination angle, and a combine sensor provided with a discharge auger, a position sensor for detecting a horizontal rotation position of the auger, and a non-working position of the auger are provided. When the auger is in the non-working position, it is possible to shift to the work end control that lowers the vehicle height, so even if the threshing device is turned off while the auger is discharging, the shift to the work end control is made. As a result, the auger does not descend and does not hit the operator or the loading platform. In addition, if the threshing device is turned off, when the auger enters the non-working range, the process shifts to the work end control, and the time required for shifting to the next operation can be reduced.

According to a second aspect of the present invention, a pair of left and right lifting drive means for changing the left and right support height of the body, a vehicle height sensor for detecting the left and right support height of the body, and a horizontal sensor for detecting the left and right inclination angle of the body. And a control means for setting the machine body to the left and right set inclination angles, and a combine sensor provided with a discharge auger, a position sensor for detecting the elevation height of the auger is provided, and the non-working position of the auger is set. Since the shift to the work end control that lowers the vehicle height when in the work position is possible, even if the threshing device is turned off while the auger discharge operation is being performed, the process shifts to the work end control and the auger descends The auger operability is improved because the auger can be retracted to the non-working area only by rotating, without hitting the worker or the loading bed or the like.

According to a third aspect of the present invention, a pair of left and right elevating drive means for changing the left and right support height of the body, a vehicle height sensor for detecting the left and right support height of the body, and a horizontal sensor for detecting the left and right inclination angle of the body. And a control means for causing the body to have a set left and right inclination angle, and a means for detecting a rising end position of the auger in a combine provided with a discharge auger, and lowering the vehicle height when the auger is at the rising end position. Since the shift to the work end control is enabled, the means for detecting the rising end position of the auger can determine whether or not the auger is within the working range with a simple device such as a switch. Unlike the switch provided in the above, the switch is turned on when the auger is turned to the rising end, so that the end time of the work can be recognized at the earliest, and the next operation can be efficiently performed.

According to a fourth aspect of the present invention, a pair of left and right driving means for changing the right and left support height of the body, a vehicle height sensor for detecting the left and right support height of the body, and a horizontal sensor for detecting the left and right inclination angle of the body. And control means for setting the machine body to the right and left set inclination angle; means for detecting a threshing "off" position in a combine provided with a discharge auger; and means for detecting a non-working position of the auger. Is configured to shift to the work end control to lower the vehicle height when the threshing is in the "off" position and in the non-working position, so that the auger does not hit other obstacles, When the paddy discharge operation is completed, a stable aircraft attitude can be quickly taken.

[Brief description of the drawings]

FIG. 1 is a side view showing an overall configuration of a combine according to the present invention.

FIG. 2 is a partial cross-sectional side view of the crawler traveling device.

FIG. 3 is a partial side view and a partial cross-sectional view of the same.

FIG. 4 is a partial plan view of the same.

FIG. 5 is a side view showing an interlocking configuration of a vehicle height sensor, a stroke sensor, and an elevating cylinder.

FIG. 6 is a plan view of the same.

FIG. 7 is a side view showing a driving configuration of the auger.

FIG. 8 is a plan view of the same.

FIG. 9 is a control block diagram.

FIG. 10 is a control block diagram showing a posture control unit.

FIG. 11 is a control block diagram showing auger turning control means.

FIG. 12 is a plan view showing a configuration example of an operation panel.

FIG. 13 is a system configuration diagram of the entire attitude control.

FIG. 14 is a flowchart of attitude control.

FIG. 15 is a flowchart of manual attitude control.

FIG. 16 is a flowchart of overall vehicle height control.

FIG. 17 is a flowchart of tilt angle control.

FIG. 18 is a flowchart of automatic attitude control.

FIG. 19 is a flowchart of work end control.

FIG. 20 is an explanatory diagram of a non-working position of a horizontal rotation position of the auger.

FIG. 21 is an explanatory diagram of a non-working height of the auger height.

FIG. 22 is a side sectional view of a horizontal auger cylinder base.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Combine 2 Body 15L, 15R Elevation drive means 16 Horizontal sensor 17L, 17R Vehicle height sensor (stroke sensor) 18 Control means 41 Auger 62 Work end control 75 Auger rotation sensor 76 Auger elevation sensor 111 Auger upper limit switch

Continued on the front page F-term (reference) 2B076 AA03 BA05 EC23 2B396 JA04 JC07 KA04 KA05 KC05 KE03 KE04 LE02 LE03 LE07 LE09 LE18 LN02 LN07 LN12 LP03 LP08 LP12 LP17 LR02 LR08 LR13 MA05 MA07 MC02 MC07 MC13 PA02 PE12 Q23 PA45 QC01 QE02 QE12 QG05 RA03 RA25

Claims (4)

[Claims] 1. A pair of left and right driving means for changing the right and left support height of the body, a vehicle height sensor for detecting the left and right support height of the body, and a horizontal sensor for detecting the left and right inclination angle of the body.
In a combine equipped with a discharge auger, a position sensor for detecting a horizontal rotation position of the auger is provided, and a non-working position of the auger is set. A combine attitude control device, wherein a shift to a work end control for lowering the vehicle height when in a work position is enabled. 2. A pair of left and right lifting drive means for changing the left and right support height of the body, a vehicle height sensor for detecting the left and right support height of the body, and a horizontal sensor for detecting the left and right inclination angle of the body.
In a combine equipped with a discharge auger, a position sensor for detecting the elevation height of the auger is provided, a non-working position of the auger is set, and the auger is set in a non-working position. Characterized in that it is possible to shift to a work end control for lowering the vehicle height when the vehicle is in the position. 3. A pair of left and right elevating drive means for changing the right and left support height of the body, a vehicle height sensor for detecting the left and right support height of the body, and a horizontal sensor for detecting the left and right inclination angle of the body.
Control means for setting the body to the right and left set tilt angle, and means for detecting the rising end position of the auger in a combine equipped with a discharge auger, and work to lower the vehicle height when the auger is at the rising end position A posture control device for a combine, wherein a transition to termination control is enabled. 4. A pair of left and right elevating drive means for changing the left and right support height of the body, a vehicle height sensor for detecting the left and right support height of the body, and a horizontal sensor for detecting the left and right inclination angle of the body.
A control means for setting the machine body to the right and left set tilt angle, a means for detecting a threshing "off" position in a combine equipped with a discharge auger, and a means for detecting a non-working position of the auger; An attitude control device for a combine which shifts to a work end control for lowering the vehicle height when the vehicle is in an "off" position and a non-work position.