JP2001000031A - Apparatus for controlling vehicle height of combine during turning - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an apparatus for controlling the vehicle height of a combine during turning for reducing a risk of upset during turning as far as possible. SOLUTION: A turning sensor can detect a brake turn and a spin turn. A control means outputs a descending signal for descending the height of a higher vehicle to meet the height of a left or right lower vehicle when the brake turn is detected, and a descending signal for descending the vehicle height to the lowest position when the spin turn is detected. The descending signal of the brake turn is a signal indicating a slow speed descending and the descending signal of the spin turn is a signal indicating a rapid descending.

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 device for turning a combine. More specifically, the present invention relates to a device for controlling a vehicle height so as to enhance stability during a turning operation.

[0002]

2. Description of the Related Art A combine is configured so that a cutting unit successively cuts a grain stalk while moving forward by a traveling device, sends a grain stalk to a threshing unit by a transport device, and threshes by a threshing unit. In addition, the combine is provided with a horizontal control device that keeps the vehicle body horizontal even when there is unevenness or inclination of the field during traveling, so that the harvesting operation can be performed while the vehicle body is stabilized.

[0003]

However, when the combine is turned while the horizontal control device is operated, the danger of falling may be increased. That is, FIG.
As shown in FIG. 1 (1), when the traveling device 1 is in contact with the ground on the inclined ground, and the vehicle body 2 is lifted on the left side and is kept horizontal, when the traveling device 1 turns on the spot, FIG. As shown in 2), the vehicle body 2 is now inclined to the downward slope side of the slope. In this case, the center of gravity of the combine moves largely to the downward inclined side, and the fall becomes easy.
SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle height control device for turning a combine in order to minimize the risk of falling during such turning.

[0004]

According to a first aspect of the present invention, there is provided a vehicle height control device for turning a combine, which is incorporated in the travel device and controls the height of a vehicle body to be left and right individually so as to maintain a level. In a combine equipped with a possible height change mechanism,
A turning sensor for detecting a turning operation of the combine, and control means for outputting a descent signal for lowering the vehicle height to the vehicle height changing mechanism when the turning sensor is turned on are provided. According to a second aspect of the present invention, in the combine vehicle turning height control device, the turning sensor includes:
The control means can detect a brake turn and a spin turn, and when the brake turn is detected, adjusts a higher vehicle height so as to match a lower or right vehicle height. A descent signal is output to lower the vehicle height to the lowest position when the spin turn is detected. According to a third aspect of the present invention, the descending signal at the time of the brake turn is a signal for commanding a slow descending, and the descending signal at the time of the spin turn is a rapid descending. .
According to a fourth aspect of the present invention, there is provided a vehicle height control device for turning a combine, comprising a tilt sensor for detecting a tilt angle of the ground on which the traveling device is installed, wherein the tilt sensor has a tilt angle equal to or less than a threshold value. Is provided, wherein a deactivation means for invalidating the descending signal when detecting is detected. According to a fifth aspect of the present invention, in the vehicle height control apparatus for turning a combine, the control unit stores the vehicle height immediately before the start of the turning operation and stores the vehicle height when the turning operation is completed. And outputting an ascending signal for returning to the vehicle height.

According to the first aspect of the present invention, since the vehicle body descends when turning, the center of gravity is low even when the vehicle body is inclined downward, so that the danger of falling is reduced. According to the invention of claim 2, at the time of a brake turn having a large turning radius, the vehicle is only lowered to the lower left or right vehicle height, so that the lowering operation is completed earlier and the vehicle body is stabilized,
At the time of a spin turn with a small turning radius, the vehicle body descends to the lowest position, so that the center of gravity becomes lowest and the vehicle body is stabilized.
According to the third aspect of the present invention, during a brake turn with a large turning radius, the amount of descent is small in order to match one of the left and right vehicle heights. In the spin turn with a small turning radius, the vehicle descends to the lowest position, so that the descending amount is large. Therefore, the descending speed is increased and the center of gravity is lowered to secure the stability of the vehicle body. Claim 4
According to the invention, the vehicle height control during turning is executed only on a slope that is really equal to or more than the threshold value required for vehicle body lowering, and the vehicle body is not lowered as needed on a gentle slope, thereby contributing to energy saving. According to the invention of claim 5, when the turning operation is completed, the vehicle height automatically returns to the original height, so that the horizontal control can be started at the same time. Therefore, straight running after turning can be immediately and stably performed.

[0006]

Next, embodiments of the present invention will be described with reference to the drawings. 1 is a flowchart of a first turning vehicle height control, FIG. 2 is a flowchart of a second turning vehicle height control, FIG. 3 is a flowchart of a third turning vehicle height control,
4 is an explanatory diagram of the vehicle body lowering operation, FIG. 5 is a schematic side view of the combine, and FIG. 6 is a side view of the traveling device. FIG. 7 shows FIG.
FIG. 8 is a front view around the operating lever for turning operation, FIG. 9 is a plan view showing the operation of the combine during a brake turn, and FIG. 10 is a plan view showing the operation of the combine during a spin turn. is there.

In FIG. 5, reference numeral 1 denotes a traveling device such as a crawler, and a chassis 2 is mounted on an upper surface of the traveling device 1. A mowing unit 3 is mounted in front of the chassis 2, and a threshing unit 5, a sorting unit 6, a straw processing unit 7, a grain tank 8, a driver's seat 9 and the like are mounted on an upper surface of the chassis 2. An operation lever 40 is attached to the driver's seat.

Referring to FIGS. 6 and 7, the traveling device 1 and a vehicle height changing mechanism 10 incorporated therein will be described. Reference numeral 11 denotes a driving roller, 12 denotes a ground roller, and 13 denotes a tension roller. The drive roller 11 is configured to transmit power to a drive shaft 14 thereof via an engine mounted on the chassis 2 and a transmission. A plurality of ground rollers 12 (five on one side in the present embodiment) are supported by the track frame 15.
The tension roller 13 is also supported by the track frame 15 via a known tension mechanism (not shown). A crawler belt 16 is wound around the rollers 11, 12, and 13. The basic structure of the traveling device 1 has been described above.

FIG. 6 shows only one side of the vehicle height changing mechanism 10. Reference numerals 17 and 18 denote swing links.
The track frame 15 is supported by a pin 19 at the front end and the rear end of the track frame 15. The upper end of one swing link 17 is connected to the piston rod of the hydraulic cylinder 21R, and the upper end of the other swing link 18 and the upper end of the swing link 17 are connected by a connection bar 22. This vehicle height changing mechanism is provided on both the left and right sides of the traveling device 1, and the hydraulic cylinder on the left is as indicated by reference numeral 21L. Therefore, when the hydraulic cylinders 21R, 21L are both extended, the space between the chassis 2 and the track frame 15 is widened, and the crawler belt 16 is at the position shown by the imaginary line, so that the vehicle height increases, and the hydraulic cylinders 21R, 21L Conversely, when both are contracted, the vehicle height decreases. Then, the left and right hydraulic cylinders 21
When the hydraulic cylinders 21R and 21L are expanded and contracted, either one of the right and left R and 21L or vice versa, the vehicle body can be inclined left and right. By the functions of the hydraulic cylinders 21R and 21L, the vehicle body 2 can be kept horizontal even when traveling on a slope.

Left and right drive rollers 1 in the traveling device
1 can apply a brake, stop one, and rotate only the other, or can rotate left and right mutually reverse. When one drive roller 11 is stopped and the other drive roller 11 is rotated, only the crawler belt 16 on one side runs around the stopped crawler belt 16, so that as shown in FIG. Make a U-turn with a relatively small turning radius. In the present specification, such a turning operation is referred to as a brake turn. When the left and right drive rollers 11 are reversed, the right and left crawler belts 16 are also reversed.
As shown at 0, combine C turns on the spot with almost no turning radius. In the present specification, such a turning operation is called a spin turn.

FIG. 8 shows an operation lever 40 for performing the above-described turning operation. A cam plate 42 is provided below the swing fulcrum pin 41 of the operation lever 40. The cam plate 42 contacts the left and right steering switches 43 and the left and right spin turn switches 44 to turn them on.・ Turn off.

When the operating lever 40 is in the upright position, the combine moves straight. When the operating lever 40 is slightly tilted to the right or left, the steering switch 43 is turned on, and when the operating lever 40 is further tilted to the position, the brake is activated and a brake turn can be performed. When the operation lever 40 is further tilted to the position, the left and right drive rollers 11 are rotated in the opposite directions, and spin-turn. The turning sensor described in the claims is constituted by the steering switch 43 and the spin turn switch 44, or is further constituted by adding a sensor for detecting the operation position of the operation lever 40,
In short, any device that can detect the turning operation of the spin turn and the brake turn may be used.

[0013] The combine of the present embodiment, in addition to the above,
A controller that comprehensively controls the vehicle height control together with the vehicle body elevating control of the present invention, including the horizontal control, and a tilt sensor that stores external information and a vehicle height sensor that stores the vehicle height position are provided in the controller. I have. This controller makes a decision based on the control program,
To output a falling signal. As the inclination sensor, besides a sensor for directly detecting the inclination of the ground, a known sensor for detecting the degree of inclination of the vehicle body can be used.

Next, a turning control method according to an embodiment of the present invention will be described. (First Turning Vehicle Height Control) As shown in FIG. 1, this turning vehicle height control is performed when the combine starts a turning operation (100).
The horizontal control (101) is stopped, and the vehicle body is lowered (102). By lowering the body, for example,
Even when turning on a slope, the center of gravity of the combine is lowered, and stability can be ensured.

The inclination sensor detects whether or not the ground is inclined or whether or not the inclination is equal to or larger than a threshold value of a predetermined angle. If a descending signal is issued so as not to perform the above, the descending signal may be issued and the vehicle body may be descended only when the vehicle is inclined above the threshold (103). further,
The descending speed may be increased as the inclination angle is increased, and the state may be shifted to the stable state more quickly.

(Second Turning Vehicle Height Control) This turning vehicle height control is different in control contents between a brake turn and a spin turn. As shown in FIG. 2, when the combine is traveling straight, the horizontal control (101) is executed, but when the brake turn starts, one side having a higher vehicle height is lowered to the same height as the lower side of the vehicle height. (102). In this case, as shown in FIG. 4A, the vehicle body 2 after descending is parallel to the inclined ground. Therefore, even if the turning is continued, the center of gravity does not move downward and the stability can be ensured.

When the spin turn is started from the straight traveling state, not only is the vehicle body lowered to the lower side, but also the vehicle body is fully lowered and both sides are set to the minimum height (104). That is, it is lowered to the state shown in FIG. In this case, not only is the vehicle body parallel to the inclined ground, but also the center of gravity of the combine is lowest, so that the stability of the combine is highest.

In the above control method, it is preferable that the vehicle body descending speed during the brake turn is slow and the vehicle body descending speed during the spin turn is rapid. If the vehicle descending speed is slow at the time of the brake turn, the fluctuation of the vehicle is gradual, so the dynamic stability at the time of the vehicle descending is not impaired, and if the vehicle descending speed at the time of the spin turn is rapid, the center of gravity is low. There is an advantage that safety is increased because the operation is quickly shifted to stability.

In the above control method, the inclination angle of the ground may be detected, and if the inclination angle is equal to or smaller than the threshold value, the vehicle body may not descend (103, 105), but may decrease only if the inclination angle is equal to or greater than the threshold value (103, 105). . By doing so, it is possible to lower the vehicle body on a steeply sloping land to secure safety, and turn the vehicle without descending the vehicle body because there is no problem in safety on a shallow sloping land.

(Third Turning Vehicle Height Control) As shown in FIG. 3, when the turning operation (brake turn or spin turn) is completed (106), the vehicle body 2 is returned to its original position, as shown in FIG. Operation to raise so that it automatically returns to the vehicle height (107)
I do. By doing so, the operator does not need to perform any special operation, and the combine can execute horizontal control immediately after straight running starts after turning, so that stability during running can be ensured.

[0021]

According to the first aspect of the present invention, since the vehicle body descends when turning, the center of gravity is low even when the vehicle body is inclined downward, so that the risk of falling is reduced. According to the second aspect of the present invention, the descent operation is completed earlier at the time of a brake turn having a large turning radius, and the vehicle body is stabilized, and at the time of a spin turn having a small turning radius, the center of gravity becomes minimum and the vehicle body is stabilized. According to the third aspect of the present invention, during a brake turn having a large turning radius, the descending speed is made slow to reduce fluctuations applied to the vehicle body and stability can be secured, and during a spin turn having a small turning radius, the descending speed is increased. The stability can be secured by lowering the center of gravity quickly. According to the fourth aspect of the present invention, the turning vehicle height control can be executed only on a sloping land that is really equal to or more than the threshold value required for vehicle body descent. According to the invention of claim 5, when the turning operation is completed, the vehicle height automatically returns to the original height, so that the horizontal control can be started at the same time. Therefore, straight running after turning can be immediately and stably performed.

[Brief description of the drawings]

FIG. 1 is a flowchart of a first turning vehicle height control.

FIG. 2 is a flowchart of a second turning vehicle height control.

FIG. 3 is a flowchart of a third turning vehicle height control.

FIG. 4 is an explanatory diagram of a vehicle body lowering operation.

FIG. 5 is a schematic side view of the combine.

FIG. 6 is a side view of the traveling device.

FIG. 7 is a view taken along line VII of FIG. 6;

FIG. 8 is a front view around the operation lever for turning operation.

FIG. 9 is a plan view showing the operation of the combine during a brake turn.

FIG. 10 is a plan view showing the operation of the combine during a spin turn.

FIG. 11 is an explanatory diagram of a problem when horizontal control is performed during a turn.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling device 2 Undercarriage 11 Drive roller 40 Operation lever

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Claims (5)

[Claims] 1. A combine equipped with a traveling device and a vehicle height changing mechanism incorporated in the traveling device and capable of controlling the height of a vehicle body individually left and right to maintain a horizontal position, the turning operation of the combine is detected. And a control means for outputting a descent signal for lowering the vehicle height to the vehicle height changing mechanism when the rotation sensor is turned on. 2. The vehicle according to claim 1, wherein the turning sensor is capable of detecting a brake turn and a spin turn. When the brake turn is detected, the control means adjusts the vehicle height to the lower one of right and left. 2. A descent signal for lowering the higher vehicle height so as to match, and outputting a descent signal for lowering the vehicle height to the lowest position when the spin turn is detected. Height control device when turning a combine. 3. The combine according to claim 2, wherein the descent signal at the time of the brake turn is a signal for instructing a slow descent, and the descent signal at the time of the spin turn is a signal for instructing a rapid descent. Height control device when turning. 4. A disabling means for disabling a descent signal when an inclination sensor for detecting an inclination angle of the ground provided by the traveling device is detected, and the inclination sensor detects an inclination angle equal to or less than a threshold value. The vehicle height control device during turning of a combine according to claim 2, wherein the vehicle height control device is provided. 5. The control device according to claim 1, wherein the control means stores a vehicle height immediately before the start of the turning operation, and outputs an ascending signal for returning to the stored vehicle height when the turning operation is completed. Item 4. The vehicle height control device for turning a combine according to item 1.