JPH0574322B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a traveling device on a traveling machine body, a rolling drive means for rolling the traveling machine body with respect to the traveling device, and a horizontal reference of the traveling machine body. an inclination angle detection means for detecting a left-right inclination angle with respect to a surface; and a rolling control means for operating the rolling drive means to maintain a left-right inclination angle of the traveling body at a predetermined angle based on information from the inclination angle detection means. A ground work device is attached to the traveling machine body, a work device lifting drive means for raising and lowering the ground work device with respect to the traveling machine body, and a height detection device for detecting the height of the ground work device above the ground. means, and a work equipment lifting control unit that operates the working equipment lifting drive unit to maintain the height of the ground working equipment at a predetermined height based on the information of the height detecting unit. Regarding ground work vehicles.

[Conventional technology]

This type of ground work vehicle has a rolling control means, so that when one of the left and right traveling devices falls into a ridge or the like and the traveling body tries to tilt in the left-right direction while working in the field, the above-mentioned It has the feature of being able to maintain the traveling aircraft at a desired predetermined angle by operating the rolling drive means, 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. In addition, it is possible to improve the straightness, and in the case of a combine harvester equipped with a threshing device, there is an advantage that the uneven distribution of the material to be sorted in the oscillating sorting section is reduced, and the sorting performance can be improved.

On the other hand, by the lifting control means for the work equipment,
The height of the ground working device can be maintained at a predetermined height even if the traveling device sinks into the field surface, and this has the advantage that the cutting height does not change, for example, when harvesting planted crops. can.

[Problem to be solved by the invention]

When the rolling control means and the work equipment lifting control means are incorporated into the same traveling machine as described above, even if the rolling control means operates simply to reduce the lifting speed of the ground work equipment, the rolling control means If you do the same thing as when it is not working, the left and right ends of the ground work equipment may come too close to the field surface.

In other words, when the rolling control means and the work equipment lifting control means operate simultaneously and the ground work equipment needs to rise, one of the left and right ends of the ground work equipment is at the height of the height detection means. The traveling aircraft may be closer to the field surface by the amount that it is tilted to the left or right than the information provided. Therefore, if the rising speed is set to the same speed as when the rolling control means does not work, the return to the predetermined height position will be delayed.

An object of the present invention is to smoothly control the elevation of a ground work device by changing the lifting operation speed of the ground work device when the rolling control means and the work device elevation control means operate simultaneously. purpose.

[Means for Solving the Problems] The characteristic configuration according to the present invention is such that when the rolling control means operates, the rising speed of the ground working device is increased, and when the rolling control means does not operate, the rising speed of the ground working device is increased. The lifting speed of the working equipment is configured to switch the lifting speed of the working equipment to a low speed that is slower than the high speed state, and its effects are as follows.

[Effect]

In other words, when the rolling control means operates and the working equipment lifting control means operates at the same time, the ground working equipment rises at high speed, and when only the working equipment lifting control means operates, the ground working equipment Operates at low speeds, which are slower than high speeds.

〔Effect of the invention〕

As a result, it is possible to quickly escape from a situation where the ground work equipment is too close to the field surface when only the rolling control means and the lifting control means for the working equipment operate, and only the lifting controlling means for the working equipment operates. In this case, the overshoot phenomenon at a predetermined height position is small and the control is stable.

It has now become possible to smoothly and quickly control the elevation of a ground work vehicle that incorporates a rolling control means and a work device-like elevation control means.

〔Example〕

As shown in FIG. 8, the system is equipped with a pulling device 1, a reaping device 2 for reaping the grain culm pulled up by the pulling device 1, and a rear conveyance device 4 for conveying the harvested grain culm toward a rear threshing device 3. The reaping pretreatment device 5 is attached to a traveling machine body 7 equipped with a pair of left and right crawler traveling devices 6, 6 so as to be vertically swingable around a horizontal support shaft X by an elevating cylinder 8, thereby forming a combine harvester. Here, the reaping pretreatment device 5 is an example of a ground work device, the lifting cylinder 8 is an example of a lifting drive means for a work device, and the combine harvester is an example of a ground work vehicle.

Next, the traveling body 7 of the left and right crawler traveling devices 6, 6
The mounting structure will be explained below. As shown in FIGS. 3 and 4, a horizontal frame 10 is connected below the main frame 9 that is in a forward and backward orientation and constitutes the traveling body 7, and the left and right truck frames 11, 11 are connected and fixed by this horizontal frame 10. are doing. A drive sprocket 12 and a tension sprocket 13 are fixedly attached to the rear ends of the track frames 11, 11, respectively. The track frame 11 is formed in the shape of a downwardly open channel, and a pair of front and rear movable frames 15A and 15B, each of which pivotally supports a plurality of idler wheels 14, are mounted in the open space so as to be relatively vertically movable. A large-diameter idler wheel 16 is supported by the track frame 11 at an intermediate position of the group of idler wheels 14 so as to be vertically swingable.

The front and rear movable frames 15A and 15B include
One end of the front and rear bell cranks 17A, 17B are respectively attached to the truck frame 11 so as to be pivotable up and down, and the front and rear bell cranks 17A, 17B are connected by a connecting rod 18.
A rolling lifting cylinder 19 is connected to the other end of the rear bell crank 17B, so that the front and rear movable frames 15A and 15B are moved up and down by the same amount in the same direction. The rolling lifting cylinder 19 is an example of a lifting drive means for a traveling device that raises and lowers the traveling device 6 with respect to the traveling machine body 7.

As shown in FIG. 4, a volume-type height sensor 20 for the traveling device is provided at the connection portion between the rolling lifting cylinder 19 and the rear bell crank 17B to detect the amount of rocking of the rear bell crank 17B. The detected value from this height sensor 20 is input to the control device 21, and the track frames 11, 11 of the movable frames 15A, 15B are
It is possible to artificially change the relative height. In this case, the traveling body will be tilted by the difference in relative height between the left and right traveling devices 6, 6.

When an automatic control mode is adopted, the movable frame 15 is
A, 15B is adjusted to the rolling lifting cylinder 19 with the control valve 29 so as to maintain the horizontal inclination angle of the traveling body 7 with respect to the horizontal reference plane (ground) at the value set from the inclination setting device 28. Therefore, it is configured so that rolling control is possible. The gravity type inclination sensor 23 is an example of inclination angle detection means for detecting the left and right inclination angle of the traveling body 7 with respect to the horizontal reference plane. As described above, the sensor 23, the inclination setting device 28, and the control device 21 are connected to the rolling control means 31A.
It is called.

Incidentally, a volume-type elevation detection sensor 2 is installed at the pivot axis X of the reaping pretreatment device 5 to the traveling machine body 7.
4 is provided, and is configured to detect the amount of elevation of the reaping pretreatment device 5 with respect to the traveling machine body 7,
The height above the ground (the height of cutting relative to the grain culm) of the reaping pretreatment device 5 is set by the cutting height setting device 35 based on the detected value from the ultrasonic height above the ground sensor 33 provided near the pulling frame. The mowing height can be controlled by an elevating cylinder 8 with a control valve 30 so as to maintain the mowing height within a certain range. In the above, the ground height sensor 33, the cutting height setter 35, and the control valve 30 for the lifting cylinder 8 are referred to as cutting height control means 31B.
The height above the ground sensor 33 is an example of a height detection means for detecting the height of the working device 5 above the ground, and the cutting height control means 31B is an example of a lifting control means for the working device.

From the above configuration, when the rolling control means 31A is activated, that is, when the rolling lifting cylinder 19 is activated, the control gain of the reaping pretreatment device 5 (that is, the pulse drive duty of the control valve 30) is increased. This increases the rate of rise.

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 lifting cylinder 19 is provided with limit switches 25, 25 at the end of its movable stroke, and when the limit switch 25 is activated, a warning lamp 26 is activated.
is activated. The control flow first confirms that this alarm lamp 26 is not lit, and
Position information from the height sensors 20, 20 for the traveling device is taken in, and automatic/manual control is selected by the changeover switch 32. Next, based on whether or not the threshing device 3 is in operation or the height information of the reaping preprocessing device 5 from the elevation detection sensor 24, the height of the reaping preprocessing device 5 is determined to be higher than a certain height during the reaping operation. If it is, the target position of both traveling devices 6, 6 is set to the upper limit position (maximum stroke length of the rolling lifting cylinder), assuming that the vehicle is traveling on the road, or
If the left and right traveling clutches (not shown) are set to the lower limit position (minimum stroke length of the rolling lifting cylinder) and the left and right traveling clutches (not shown) are in operation, it is assumed that the vehicle is turning at the edge of a ridge, and the rolling raising and lowering operation of both traveling devices 6, 6 is performed. Stop (step).

The illustrated combine angle is an angle when the traveling devices 6, 6 are already inclined with respect to the traveling vehicle body 7 at the time of starting the control. And the tilt sensor 23
The target angle for operating the rolling lift cylinder 19 is calculated based on the detected angle by the inclination setter 28 and the set angle with respect to the horizontal reference plane from the inclination setter 28, and the operation length (target length) of the rolling lift cylinder 19 is calculated ( step).

Once the target length is determined, roll lifting cylinder 1
It is determined whether the maximum stroke (variable length) range of 9 can be covered, and if the target length is larger than the variable length, this variable length is set as the target length and the rolling lifting cylinder 19 is at the stroke end. This is indicated by the alarm lamp 26 (step).

Next, + or - of the target angle is determined. + refers to the case where the traveling aircraft 7 is tilted to the right, and -
indicates opposite operation. In the case of +, the control mode is selected by the mode changeover switch 22 as shown in FIG. ) and set the target position of the right traveling device 6 at a position where the cylinder length is shorter than the maximum stroke position by twice the target length.
On the other hand, in the lower limit mode, the right traveling device 6,
6 target position is the minimum stroke position (lower limit position)
and sets the target position of the left traveling device 6 at a position where the cylinder length is longer than the minimum stroke position by twice the target length.

If the target angle is -, select the control mode and perform the opposite procedure to that for the case of + (step).

Once the target positions of the left and right traveling devices 6, 6 are determined as described above, the required operating length (corrected length) of the rolling cylinder 19 is determined from the position information from the traveling device height sensor 22, and the dead zone α is determined. In some cases, the operation of the rolling lift cylinder 19 is stopped, and if this is exceeded, the rolling lift cylinder 19 is operated by the corrected length.

Next, when switching to manual control using the changeover switch 32, the target angle is controlled to be the value set by the inclination angle setter 28.

Next, cutting height control will be explained in detail. As shown in FIGS. 1 and 6, information from the ground height sensor (cutting height in centimeters) is taken in to determine the average cutting height. 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 the rolling control (that is, the rolling lifting cylinder 19) is activated, and if it is in operation, the lifting signal output timing to the lifting cylinder 8 is changed for a short period (that is, (increasing the drive duty to the control valve 30), and the reaping pre-treatment device 5
If the rolling control is not in operation, the output timing is made long to slow down the rising speed of the reaping pre-processing device 5. If the deviation falls within the dead zone, the vertical movement of the pre-reaping treatment device 5 is stopped. Moreover, if the deviation is -, the procedure opposite to that in the case of + may be performed.

Processing using the above flow for a short time (e.g. 10m)
S) is repeatedly controlled to maintain the traveling body 7 in the set attitude.

[Another example]

B. The entire traveling device 6 may be moved up and down with respect to the traveling body.

○B A starting switch for rolling control is provided, and when this starting switch is turned off, the left and right rolling lifting cylinders 19, 19
It is possible to adopt a control mode in which the state before the activation switch is stopped is maintained, or it is moved to a specific position, for example, either the upper or lower limit position.

○C It may be applied not only to self-removal type combine harvesters but also to whole culm input type combine harvesters.

[Brief explanation of the drawing]

The drawings show an embodiment of the ground work vehicle according to the present invention, and FIG. 1 is a configuration diagram showing a control means, FIG. 2 is a front view showing a panel on which operating equipment is arranged, and FIG.
The figure is a side view showing the elevation control means of the traveling device.
The figure is a vertical rear view showing the elevation control means of the traveling device.
Figure 5 A and B are flowcharts for rolling control, Figure 6 is a flowchart for cutting height control, and Figure 7 is a flowchart for rolling control.
The figure is an overall flowchart, and FIG. 8 is an overall side view. 5...Ground work device, 6...Traveling device, 7...
Traveling body, 8... Lifting drive means for working equipment, 19
...Rolling drive means, 23...Inclination angle detection means, 31A...Rolling control means, 31B...
Lift control means for working equipment, 33...height detection means.

Claims (1)

[Scope of Claims] 1. Traveling devices 6, 6 are provided on a traveling machine body 7, and a rolling drive means 19 is provided for rolling the traveling machine body 7 with respect to the traveling devices 6, 6, and a horizontal reference of the traveling machine body 7 is provided. Based on the information from the tilt angle detection means 23 and the tilt angle detection means 23, which detects the left and right tilt angle with respect to the plane, the rolling drive means 19 is operated to maintain the left and right tilt angle of the traveling body 7 at a predetermined angle. A rolling control means 31A is provided, a ground work device 5 is attached to the traveling machine body 7, a work device lifting drive means 8 for raising and lowering the ground work device 5 with respect to the traveling machine body 7, and the ground work device Height detection means 3 for detecting the height above the ground of 5
3 and based on the information of the height detection means 33,
The ground work vehicle is provided with a work device lift control means 31B that operates the work device lift drive means 8 so as to maintain the height of the ground work device 5 above the ground at a predetermined height, When the control means 31A operates, the rising speed of the ground working device 5 is made high, and when the rolling control means 31A does not operate, the rising speed of the ground working device 5 is made low, which is slower than the high speed state. A ground work vehicle in which the work equipment lifting control means 31B is configured to switch.