JPH0458819A - Left and right horizontal control method of combine or the like - Google Patents

Abstract

PURPOSE:To stably and horizontally control rotation, traveling, etc., of combine in maintaining an operation device side approximately in a horizontal state at the left and the right by detection of left and right inclination of body with an inclination sensor, by checking a left and right horizontal control in an attitude of a side to stabilize a body by rotating and traveling operation. CONSTITUTION:A body 2 of combine, etc., consists of a body frame 4, a pair of left and right crawler frames 7 liftably supported by front and rear link arms 5 and 6 as four point parallel link mechanism at both left and right sides and an undercarriage 8 supported on the body frame 4, a crawler 12 is hung on each of the crawler frame 7, drive of an engine is transmitted to a driving shaft 13 of sprocket, the body 2 is transmitted and driven by the crawler 12, left and right inclination of the body 2 is detected by an inclination sensor, the body is controlled in such a way that the side of a operation device 3 is maintained in approximately horizontal at the left and the right, left and right horizontal control is checked into an attitude to stabilize the body 2 by rotating and traveling operation to control combine, etc., horizontal at left and right.

Description

[Detailed Description of the Invention] (Industrial Application Field) This invention relates to a horizontal horizontal control system for combine harvesters, etc.
It can also be used for tractor working machines, seedling planting machines, etc. Furthermore, the control target is not limited to horizontal horizontal control or rolling control of a working device with respect to the vehicle body, but can also be used for horizontal horizontal control or rolling control of a crawler or the like of the vehicle body itself.

(Prior art and problems to be solved by the invention) In working machines such as combine harvesters, if the machine body tilts to the left or right while traveling, the work performance deteriorates. In the attitude control mode of the work equipment, where the attitude of the work equipment is controlled horizontally, even if the vehicle body is horizontally horizontal due to centrifugal action during turning, etc. As a result, the angle of inclination is detected, and therefore horizontal control is performed, which tends to cause the aircraft to tilt to the left or right or cause hunting.

The present invention aims to reduce erroneous detection of left and right inclinations by such inclination sensors or rolling sensors, and maintain stable turning control.

(Means for Solving the Problems) The present invention provides a horizontal horizontal control device that controls the working device 3 side to maintain the left and right sides horizontally by detecting the left and right inclination of the vehicle body 2 using the inclination sensor l. This left-right horizontal control system for a combine harvester or the like is characterized in that the left-right horizontal control is controlled to a stable posture of the vehicle body 2 by operation.

(Function) Even if the object to be controlled, such as a vehicle body or a working machine, is tilted to the left or right in relation to the ground surface on which it is traveling, the inclination sensor detects the inclination so that the object to be controlled, such as a vehicle body or a working machine, is horizontally aligned. Controlled to maintain posture.

Furthermore, if a turning operation is performed while such horizontal control is being performed, the left and right horizontal control will not be directly continued during turning, and the vehicle body 2 will be kept in a stable position.

(Effects of the Invention) In this way, when the vehicle is turning, the left and right horizontal control is not continued (until it is traveling straight) and the vehicle body 2 is kept in check to stabilize the vehicle body 2, so even if the tilt sensor 1 is Even if an erroneous detection is made based on turning, there is no risk of making the -layer driving unstable, and the turning can be performed while maintaining a stable vehicle body posture.

(Example) The embodiments shown in FIGS. 1 to 6 will be described.

The vehicle body 2 includes a vehicle body frame 4, a pair of left and right crawler frames 7 supported on the left and right sides of the vehicle body frame 4 by front and rear link arms 5.6 as a four-point parallel link mechanism so as to be able to rise and lower, respectively. The supported chassis 8 and each crawler frame 7 are comprised of a crawler 12, etc., which is supported by a front sprocket 9, an idler 10, a tension wheel 11, etc., and a drive shaft 13 of the sprocket 9. The vehicle is driven by an engine mounted on the chassis 8.

A front link arm 5 and a bracket 15 of the chassis 8 are rotatably supported by an arm shaft 14 to the front part of the vehicle body frame 4, and a pair of left and right rolling cylinders 16 which are hydraulically expanded and contracted are connected to the vehicle body frame 4. The left and right crawler frames 7 are moved up and down by the expansion and contraction of the rolling cylinder 16 by a link rod 17 that is provided between the front link arm 6 and connected between the front and rear link arms 6. On the other hand, the vehicle body frame 4 is configured to be able to be raised and lowered horizontally in parallel (left-right parallel control) or tilted to the left or right (rolling control).

Further, a link 18 that can be expanded and contracted is provided across the rear end of the chassis 8 and the vehicle body frame 4, and this link 18 is rotated by expansion and contraction of a pitching cylinder 22 of the chassis 8 that can be expanded and contracted hydraulically. can be rotated around the front arm axis 14 to make it tilt forward and backward and horizontal (pitching control).

In addition to the engine, on the chassis 8, in the case of a combine harvester as the working device 3, a reaping device is supported in the front, and a threshing device is installed in the rear that receives and receives the grain culm harvested by the reaping device. A device 19, a grain hopper 20 for storing grains threshed by the threshing device 19, and the like are arranged.

Such a left and right horizontal control device for a combine harvester includes a controller via a microcomputer CPU, and on the input side, a tilt sensor 1 for detecting the left and right tilt of the chassis 8;
A power steering sensor 23 is provided to detect right and left turning operations of the power steering lever 21 for controlling turning travel. Further, on the output side, there are provided an upper left solenoid 24, a lower left solenoid 25, an upper right solenoid 26, a lower right solenoid 27, etc., which actuate the rolling control valve in the hydraulic circuit that expands and contracts the left and right rolling cylinders 16.

The inclination sensor 1 consists of a bubble tube 29 filled with a liquid 28 (Fig. 5), and by inclining to the left and right integrally with the vehicle body 2, the internal liquid level is maintained in a horizontal horizontal plane. , it is configured to be able to detect the left and right inclination angles. Therefore, when the vehicle body 2 makes a turn with acceleration, the liquid 28 moves due to centrifugal force and the liquid level tilts to the left and right.

When turning to the left, the centrifugal force acts to the right, so the liquid level in the bubble tube 29 slopes downward to the left (Fig. 5-A), which is the same state as when the vehicle body 2 slopes downward to the right. Then, in the same way, the liquid level slopes downward to the right (Figure 5-B).
, this is the same state as when the vehicle body 2 is tilted downward to the right.

The left and right crawlers 12 with respect to the vehicle body 2 perform left and right parallel control,
It is moved up and down by the expansion and contraction of the rolling cylinder 16 depending on the rolling control mode. Normally, it is performed based on the left-right parallel control mode, and rolling control is performed only when the rolling control mode is specified, and when this rolling control mode is canceled, it automatically returns to the left-right parallel control moto.

Horizontal parallel control is a case where the left and right crawler frames 7 are moved up and down while maintaining a state parallel to the vehicle body frame 4, as in height control, and the left and right rolling cylinders 16 extend and contract in the same direction and for the same length. controlled. Therefore, car body 2
When tilting to the left or right, parallel control is performed in this tilted state.

In the rolling control, the inclination sensor 1 detects the left and right inclination of the vehicle body 2 to lower the vehicle body frame 4 that is too high or raise the vehicle body frame 4 that is too low relative to the reference vehicle height. In this way, the left and right rolling cylinders 16 are controlled to expand and contract to maintain the left and right horizontal posture at the standard vehicle height. Therefore, even if the left and right crawlers 12 are inclined due to the inclination of the ground, etc., the vehicle body frame 4, the chassis 8, etc. are maintained in a horizontal state.

In FIG. 6, the operation of the steering clutch etc. steered by the power steering lever 21 is performed by switching the solenoid valve 31 of the hydraulic circuit 30 to the left and right bushing cylinders 32.
．． 33, and a power steering relief valve 34 that operates the bushing cylinders 32 and 33 above the disengaged position of the steering clutch to apply the steering brake. By adjusting the pressure in the steering brake, it is possible to perform turning steering by applying the steering brake together with the steering clutch.

The power steering lever 21 turns the left and right limit switches 35 on and off by turning it left and right.
By doing so, it is possible to perform steering by switching the solenoid valve 31 and operating the bush cylinders 32 and 33 to operate the steering clutch. Further, by rotating the power steering lever 21 further, the pressure of the power steering relief valve 34 is increased, the cutting force of the bushing cylinder 32, 33 on the steering side is increased, and the amount of operation is increased. The structure is such that the steering brake is applied so as to brake the crawler on the side where the opposite clutch is disengaged several times to perform turning steering. Further, a power steering sensor 23 is provided to detect that the power steering relief valve 34 is regulated to a high pressure by operating the power steering lever 21. This power steering sensor 23 is the left and right limit switch 3
5, input is made only when the steering side is turned on.

36 is a hydraulic pump.

In the horizontal control or rolling control mode of the vehicle body 2, when the tilt sensor is inputting and the left and right power steering sensors 23 are turned on, the vehicle body 2 is controlled regardless of the tilt detection of the tilt sensor. No rolling control output is performed (Figure 4).

Note that instead of the means for stopping the rolling control or the horizontal control by the turning operation, a delay device may be provided to delay the timing of these controls by the turning operation. Alternatively, the rolling control mode may be switched to the left-right parallel control mode by a turning operation.

In FIG. 7, to explain the difference from the upper side, a case will be described in which a reaping device 37 of a combine harvester is used as a working device 3, and a reaping and conveying device 38 is subjected to rolling control by a reaping rolling cylinder 39. The combine has a threshing chamber 41 in which a threshing drum 40 is mounted on a chassis 8 having a pair of left and right crawlers 12, a swinging sorting device 42 and a winnowing machine 4.
The threshing device 19 is equipped with a sorting chamber 44 in which grains such as grains, etc. Reaping device 37 at the front end of device 38
A reaping rolling cylinder 39 is installed so that it can be rolled freely.
The structure is such that the reaping device 37 is controlled to be maintained horizontally horizontally with respect to the front end of the conveying device 38 by expanding and contracting. 46 is a cutting blade device, 47 is a raking o, 4
8 is a grain discharge tube, which discharges the grains in the grain group and the collar 20.

When the tilt sensor 1 provided integrally on the reaping device 37 detects that the chassis 8 is tilted in the left-right direction,
The reaping device 37, which is integrally tilted left and right with the chassis 8, is controlled to roll left and right by a rolling cylinder 39, and is maintained in a horizontal position.

However, in such a rolling control mode, when a turning steering operation is performed using the power steering lever 21, the reaping rolling control is stopped regardless of the horizontal inclination of the vehicle chassis 8 as measured by the inclination sensor 1. Moreover, instead of stopping this reaping rolling control, it may be configured to switch to a simple control of the cutting height or elevation using the lift cylinder 45, or furthermore, to delay the rolling control.

[Brief explanation of drawings]

The figures show an embodiment of the present invention, in which Fig. 1 is an operational diagram of an inclination sensor, Fig. 6 is a hydraulic circuit diagram for steering operation, and Fig. 7 is a partially cutaway diagram of a combine harvester that has been partially implemented. FIG. (Symbol theory 8B) 1 Inclination sensor 2 3 Working device 4 7 Crawler frame 16 19 Threshing device 23 37 Reaping device 38 39 Reaping rolling cylinder Ishii Danui °・

Claims (1)

[Claims] In a horizontal horizontal control device that controls the working device 3 side to maintain the left and right sides substantially horizontal by detecting the horizontal tilt of the vehicle body 2 by the tilt sensor 1, the horizontal horizontal control of the vehicle body 2 is stabilized by a turning operation. A horizontal horizontal control system for combine harvesters, etc., which is characterized by checking the side posture.