JPH0657092B2 - Combine rolling device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention mounts a pair of left and right traveling devices independently so as to be able to move up and down with respect to a traveling machine body, and adjusts a horizontal inclination angle of the traveling machine body with respect to a horizontal reference plane. The present invention relates to a rolling device of a combine having a rolling control means having an automatic tilt angle control means for driving the traveling device up and down to maintain a set inclination angle, and more specifically, to the traveling device independently of the traveling machine body. Since it is mounted so that it can be moved up and down, for example, a U.S.P. S. As disclosed in Patent 3,160,221,
Compared to the structure in which the seesaw oscillates left and right around the center fulcrum of the machine body, the reference height of the traveling machine with respect to the traveling machine body (average height of both traveling machines, etc.) can be set arbitrarily, and the machine body can sink in the field. Correspondingly, the present invention relates to a combine rolling device having a great flexibility in a mowing posture so that a good mowing posture can be maintained.

[Conventional technology]

Conventionally, in a combine rolling device having the above-mentioned characteristics, a structure in which a traveling machine body is forcibly lifted by a cylinder or the like using a grounded traveling device as a fulcrum. Then, in fields such as wetlands where the subsidence of the aircraft is relatively large, in order to raise the vehicle height, each traveling device is artificially set to an appropriate height position while being lowered with respect to the traveling aircraft, The elevation of the traveling device is automatically controlled according to the inclination of the traveling machine body.

[Problems to be solved by the invention]

Therefore, during the automatic tilt angle control, the traveling machine body goes up and down to the ground and becomes unstable. Of course, even if the control is stopped, the traveling machine body may travel on the road or the like in a state where it is at the highest position. As shown in FIG. 2, the cylinder (19) and the bell cranks (17A), (17B) that move up and down the traveling device (6) are affected by the instability of the traveling vehicle and the vibration of the vehicle during traveling. The load increases. Therefore, although the loads are designed with a margin in mind, it is not preferable for the cylinder or the like that the peak load frequently acts.

The object of the present invention is to reduce the unexpected external force induced by the vibration of the machine body acting on the cylinders and the like as much as possible to extend the life of the cylinders and the like, and to avoid the inconvenience due to the means taken for extending the life. The point is to provide something that can be avoided.

[Means for Solving the Problems] When the automatic tilt angle control means is turned off, the traveling machine lower limit control for forcibly moving both traveling devices to the highest position relative to the traveling machine body to switch the traveling machine body to the lower limit position Means are provided, and a manual priority switch capable of controlling the traveling device to move up and down is provided in preference to the traveling machine body lower limit control means, and the operation and effect thereof are as follows.

[Action]

(A) Due to the characteristic configuration, when the need for automatic tilt angle control is low (for example, when the road is relatively hard and the field is relatively hard even during mowing), one of the traveling devices sinks and Since the vehicle does not tilt, the automatic tilt angle control means is turned off and the automatic tilt angle control is stopped, and accordingly, the traveling machine body lower limit control means brings the traveling machine body and the traveling machine closer to each other and raises the traveling machine body above the ground. The stability is automatically secured by lowering the body weight. Further, by doing so, vibration of the machine body or swinging to the left, right, front, and rear can be reduced even while the vehicle is traveling, and the load applied to the cylinder and the bell crank can be automatically reduced to such a state.

(B) For example, when turning around a ridge or the like during mowing work, a biased load is applied to the traveling device on the outer side of the turning, and the traveling device sinks, so the traveling machine body is lifted and the machine body balance is to be restored. Therefore, it is attempted to drive the traveling device up and down with a manual switch or the like, but due to the characteristic configuration, the traveling machine body lower limit control automatically operates when the automatic tilt angle control is stopped, so that the traveling machine body reaches the lower limit position. You have to wait and the operability is poor. Therefore, according to the characteristic configuration, even when the traveling machine body lower limit control means is in operation, the elevating control of the traveling apparatus can be manually performed by the manual priority switch before the traveling machine body reaches the lower limit position.

〔The invention's effect〕

From the action (a), it is possible to reduce the chance that the peak value (maximum load) acts on those cylinders and the like, and there is an advantage that contributes to the extension of the life of the cylinder and the like.

In addition, since the raising / lowering control of the traveling device by the manual priority switch can be performed without waiting time due to the action (b), it is useful when turning at the edge of a ridge that requires a sudden operation.

〔Example〕

As shown in FIG. 2, the raising device (1), the mowing device (2) for mowing the grain culms raised by the raising device (1), and the conveyance of the mowing grain culm to the rear threshing device (3). The pre-mowing treatment device (5) equipped with a rear transport device that performs a pair of left and right crawler traveling devices (6),
A combine is constructed by vertically swingably attaching to a traveling machine body (7), (7) provided with (6) around a lateral support shaft by an elevating cylinder.

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. 2, the traveling vehicle (7)
A drive sprocket is attached to the front and rear ends of each of the track frames (11) and (11) in the main frame in the front-rear posture that constitutes the
(12) and tension sprocket (13) are attached and fixed. The track frame (11) has a pair of front and rear movable frames (1) pivotally supporting a plurality of idle wheel bodies (14) on the lateral outer side thereof.
5A) and (15B) are mounted so that they can move up and down relatively. A large diameter idler wheel (16) is supported by the track frame (11) at an intermediate position of the idler wheel group (14) so as to be vertically swingable. The front and rear movable frames (15A) and (15B) are respectively attached with front and rear bell cranks (17A) and (17B) pivotally supported on the track frame (11) so as to be vertically swingable, (17A), (17B) are connected by the connecting rod (18),
Further, a lifting cylinder (19) for rolling is connected to the other end of the rear bell crank (17B) so that the front and rear movable frames (15A) and (15B) can be lifted and lowered by the same amount in the same direction. Configured.

Then, as shown in FIG. 2, the upper and lower limit switches (see FIG. 3) for detecting the stroke ends of both cylinders (19), (19) are provided on both rolling lifting cylinders (19), (19). twenty five
a) and (25b) are provided, and the detected value from this is input to the control device (21), and the detected value of the gravity type tilt angle detection sensor (23) that senses the left and right tilt of the traveling vehicle (7) Based on this, the rolling lift cylinder (19) with the control valve (24) is used to keep the horizontal tilt angle of the traveling vehicle (7) with respect to the horizontal reference plane (ground) at the set value from the tilt setting device (22). It is configured to be controllable. Above, limit switch
The (25a), (25b), the sensor (23a), the setting device (22), and the control device (21) for controlling these are referred to as an automatic tilt angle control means (4).

Also, based on the detection result of the stroke sensor (20) such as the potentiometer that detects the operation amount of the rolling cylinder (19), the traveling device (6), (6) can be arbitrarily controlled to move up and down to control the tilt angle. A threshing device is provided with a switch (8) for switching between the angle control means and the automatic tilt angle control means (4).
A threshing switch (9) for detecting the operation of (3) is provided, and when the automatic tilt angle control means (4) is turned off by the detection results of these switches (8) and (9), or the threshing device (3) When the vehicle stops operating, both traveling devices (6), (6) are positioned at the lower limit (25b), (25b) positions, and the traveling vehicle (7) is switched to the lower limit position. ) Is activated. The above switches (8), (9), limit switches (25b), (25b), and the lifting cylinder for rolling (1
9) and the like are referred to as traveling machine lower limit control means (10). Above, the automatic tilt angle control means (4), the manual tilt angle control means, and the traveling machine body lower limit control means (10) are referred to as rolling control means (26).

A control flow by the rolling control means (26) is shown based on the above configuration. First, as shown in FIG. 4, if the automatic tilt angle control means (4) and the threshing device (3) are in operation, the AUTO flag is set to "1" to perform the automatic tilt angle control. Traveling airframe
The detected value from the inclination angle detection sensor (23) of (7) and the set value from the inclination angle setting device (22) are taken in, and both are compared to calculate the declination angle (step I). This declination indicates in which direction the aircraft is tilting, and here (+) is the upper right state and (-) is the upper left state. If the declination is (+),
Issue a “lower right output” (an output that raises the right-hand drive device (6) relative to the vehicle (7)), but make sure that the right lower limit (25b) is not working. This right lower limit (2
When 5b) is operating, the right rolling lifting cylinder (19) is at the stroke end (shortening), so this time operate the traveling device (6), but first, the left upper limit (25a) Make sure that is not working “Upper left output”
(Output for lowering the left traveling device (6) with respect to the traveling vehicle body (7)). “LUD” in the flow chart represents the delay time of the off-time relay, and both the limits (25a),
When (25b) operates to stop cylinders (19), (19), it is not necessary to stop immediately by the action of the limit, but with a slight delay time, cylinders (19), (19)
Take the configuration to stop. In this case, limit (25a), (2
The installation position of 5b) is slightly on the front side of the stroke ends of the cylinders (19) and (19) .Therefore, although not shown, at the stroke end, the cylinder (19), By taking the configuration of stopping the operation of (19), the off-time relay compensates for the substantial shortening of the stroke due to the limits (25a) and (25b) located before the stroke end. Therefore, when the above-mentioned "upper left output" is output, the value of 1 hour (longer than the control repetition time of 10 ms) is set as the "LUD" so that the off-time relay is not immediately effective.

If the left upper limit (25a) is also operating, the left rolling lifting cylinder (19) is at the stroke end (extension), so the left and right rolling lifting cylinders are
Since (19) and (19) are at the stroke end and cannot be operated any more, control is stopped, but as described above, "LUD" is determined by determining the remaining time of "LUD" (off-time relay). The rolling elevating cylinder (19) is operated until = "0".

As described above, the raising and lowering operations of the traveling devices (6) and (6) are repeated synchronously (for example, every 10 ms), and the inclination is changed so that the deflection angle becomes "0".

On the other hand, if the argument is (-), the procedure opposite to that for (+) may be performed (step II). In this case, "RUD" in the figure has the same function as "LUD" and indicates an off-time relay for the right traveling device. Then, these "L
"UD" and "RUD" are not particularly required for "lower output" because the weight of the traveling vehicle body (7) acts in the stop delay direction.

Next, when the automatic inclination angle control means (4) and the threshing device (3) are not operating, the AUTO flag is reset to "φ" and the left and right traveling devices by the manual priority switch (27).
Arbitrary manual tilt angle control for (6) and (6) is possible.
When one of the automatic tilt angle control means (4) and the threshing device (3) is inactive, the AUTO flag is "1" and the manual tilt angle control is not possible. Also, it is determined whether or not the manual priority switch (27) has been operated, and if it is operated, the traveling machine lower limit control described later is not performed, and the AUTO flag is set to "φ" to enable the manual tilt angle control. To If the manual priority switch (27) is not operated, the traveling machine body lower limit control means (10) is activated. That is, if the lower right lower limit (25b) is not activated, “lower right output” (which raises the right traveling device (6) relative to the traveling vehicle (7)) is output, and at the same time, the lower left lower limit (25b) is output.
If b) is not operating, “upper left output” (left traveling device (6)
Is raised with respect to the traveling body (7)). If the left and right lower limits (25b) and (25b) are activated, the AUTO flag is reset to "φ" and "down output" is stopped (step III).

[Another embodiment]

(A) Although not specified in the above embodiment, a vehicle height setting device is newly provided, and based on the detection result of the stroke sensor (20), the left and right traveling devices (6), the reference vehicle body of (6) Set the height (for example, the parallel height of both traveling devices (6) or the height of one traveling device (6) on the left or right) and organically cooperate with the automatic tilt angle control means (4) to perform rolling control. The means (26) may be configured to be more effective.

(B) The traveling device (6) as a whole may move up and down as well as the rolling wheels (14).

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 drawings]

1 is a control block diagram, FIG. 2 is a schematic side view of the combine, FIG. 3 is a rear view showing an inclined state of the combine, and FIG. Is a flow chart diagram. (4) …… Automatic tilt angle control means, (6) …… Traveling device, (7)…
… Travel vehicle, (10) …… Travel vehicle lower limit control means, (23) ……
Inclination sensor, (26) …… Rolling control means, (27)
...... Manual priority switch.

Claims (1)

[Claims] 1. A pair of left and right traveling devices (6), (6) are independently attached to a traveling machine body (7) so as to be capable of being lifted and lowered, and
Rolling control means (4) provided with automatic tilt angle control means (4) for vertically moving the traveling devices (6), (6) in order to maintain the horizontal inclination angle of the traveling body (7) with respect to the horizontal reference plane at the set inclination angle. 2
A combine rolling device having 6),
When the automatic tilt angle control means (4) is turned off,
The traveling machine lower limit control means (10) for forcibly moving both traveling devices (6), (6) to the highest position with respect to the traveling machine body (7) to switch the traveling machine body (7) to the lower limit position is provided. A combine rolling device provided with a manual priority switch (27) capable of raising and lowering the traveling devices (6), (6) in preference to the lower limit control means (10).