FI117380B - Tilt control of articulated cab structure - Google Patents

Description

117380

Tilt control of articulated cab structure

The invention relates to an articulated vehicle 5 according to the preamble of claim 1. The invention also relates to an articulated vehicle according to the preamble of claim 14.

It is known to articulate vehicles which are off-road and harvesting machines, such as harvesters with a boom head 10 fitted to the so-called harvester head, for cutting, felling and sawing a growing tree trunk to desired lengths. Sawn timber trunks are collected on another known off-road machine, a loader with a loader, and transported in its load space. Also known are combination-15 machines, which combine the functions of a harvester and a loader, whereupon the loader grapple has a harvester head which is also suitable for loading.

Typically, forestry machines comprise two successive frame-20 nets arranged by a frame joint to pivot and / or rotate relative to one another. In harvesters, the front frame is supported by a wheel: V: pair or bogie, and has a cab and boom mounted on it, which usually also rotate by means of a swivel base. The rear frame is supported by a pair of L.i wheels and is fitted with a power source. On trucks, the front frame is supported by a pair of wheels and is fitted with a cab and a * * ^ power source. A load compartment is located on the rear frame as well as a half / body located between the cab and the load compartment. The rear frame is supported by a pair of wheels or a bogie. Each bogie usually comprises two wheels that are rocking together.

30

An apparatus for tilting the cab of a forestry machine is disclosed in SE-A-470451, which comprises a front frame and. a linkage located under the cab and controlled by cylinders. The ♦ · '· * tilts the cab sideways and straightens the cab when: 35 traveling on uneven terrain. SE-A-509907 also discloses a device for tilting the cab by guided cylinders. The apparatus is connected to the front frame and the implement is connected to a vertical frame by means of a vertical frame. SE-A-509528, in turn, discloses a device for tilting the cab sideways, forwards and backwards by means of a sliding mechanism mounted on the front frame. F1 announcement 77618 discloses a harvester 5 with a cab that can be tilted longitudinally and sideways. The tilt is controlled by the cylinders connected between the cab structure and the front frame.

In the devices described above, the tilt is controlled by an automated system which takes care of the cylinders and, for example, detects the position of the frame or cab structure by means of various sensors. Based on the position, the necessary repairs will be made to keep the cab as straight as possible when driving on variable terrain. A straight-ahead cab and slight fluctuations are a ta-15 for a good driver ergonomics.

A problem with the prior art is the slowness and delay in operation, which occurs, for example, in the repair of cylinders, whereby the cab can first oscillate and only then the control system begins to correct 20 positions by means of the cylinders. In case of rapid changes, the correction is slow /; *: and can even lead to collisions of structures. Analyzing / positioning the implement: · / finding and deciding the correct position correction is a difficult task. False or too large repair movements are also *! possible. Other structures placed on top of the frame structures, such as the 25 engine covers, must be taken into account when the cab is tilted and the implement folded to avoid collisions. The control system ... must therefore determine the position even more closely and, if necessary, limit the movement of the cab in certain positions.

It is an object of the present invention to eliminate the above-mentioned problems. \ mia and implement a mechanism to speed up the correction and steering of the cab. The mechanism works reliably, and * · * ·; · * can also effectively and simply limit cab tilt with respect to the various frame structures and their various 35 positions.

·· m 3 117380

The articulated vehicle of the invention is set forth in claim 1. The articulated vehicle of the invention is set forth in claim 14.

The invention is based on the idea that the cab is tilted to the front frame to allow it to tilt sideways, and that the cab tilt is controlled by a mechanism engaged so that the cab follows the movement or position of the rear body. The axes controlling tilt and body rotation are located at different heights, whereby rotation of the front 10 causes the cab to tilt, but the mechanism allows the direction and amount of tilt to be adjusted. Adjustment is possible, for example, by actuating the mechanism alternately at points.

In a preferred embodiment, the mechanism is engaged such that the cab tilts following the front frame rotation movement in the same direction, but the inclination is proportionally less than the rotation, whereby the articulated vehicle behaves more comfortably when the front frame wheels cross obstacles. The mechanical system according to the invention reacts immediately to the tilting of the working machine due to uneven terrain. The mechanism first limits the initial flare and finally can auto: Y; a mathematical control to take care of the posture so that the oscillation is smaller than prior art, even if there is a delay. Even a rigid coupling that makes the tilt smaller than the rotation • * ..... 25 facilitates the work of the operator. Active control via a cylinder can easily be added to the system. The maximum and mi -), / nominal length cylinders also serve as a mechanical stop for the cab: ···: tilted positions, which prevents collisions while the hulls are also pivoted or folded to almost extreme positions. The rod or cylinder also forces the cab to move to a position where no O collision is possible.

• ϊ. ···. In a preferred embodiment, when a frame joint is connected between the frames to allow the frames to rotate about the vertical axis, the v: 35 mechanism is coupled to the frame joint such that the geometry of the mechanism does not affect the geometry of the frames.

Such a mechanism is also useful in a frame linkage 117380 4 which further allows the frames to be folded around a transverse direction.

The invention will now be described in more detail using a preferred embodiment, with reference to the accompanying drawings, in which: Figure 1 is a rear view of a cab structure, a cab structure and a pivotal joint using an actively oh-10 extended cylinder guided to its maximum length; Figure 3 shows the structures of Figure 1 with an actively guided cylinder guided to its minimum length; Figure 3 shows the structures of Figure 1 with a cylinder positioned in its center position; Figure 4 shows the structures of Figure 1 with the rear body and cab inclined to the left; and Fig. 5 shows the structures of Fig. 1 with the rear frame and cab tilted in the same direction to the right, and the cylinder in the center position, and Fig. 6 shows the front frame structure, the rear frame structure, cab structure and chassis from the rear when the rear body and cab are tilted to the right with the * - * mouth and the cylinder is in the center position.

·· ": 30 ·· * # Figure 6 shows an articulated vehicle comprising a front body structure ':: f 1, a rear body structure 2 and a cab structure 3 located on the front body *: · * over field 1. The vehicle is shown for clarity without wheels, \\: bogie structures or bogie structures which support the bodies 1, 2 and 5 ;;;: 35: Fig. 6 also shows no cylinders which rotate the bodies, but their mounting lugs on the rear frame 2 and the frame joint 10 are visible. The drive is transmitted to the wheel 117380 5 by means of pressure medium and hub motors are used, the pressure medium being typically hydraulic fluid, as shown in Fig. 1, cab 3 tilts with respect to front frame A about first axle A which is longitudinal to vehicle B, which is also parallel to the longitudinal direction of the vehicle The vehicle has a mechanism 4 which transmits the work casting and pulling movement.

In the embodiment shown, the axis A deviates from the axis B 10 and is upright, whereby the inclination of the front frame 1 causes the cab 3 to tilt, and at the same time the cab 3 also moves sideways slightly. The situation of Figures 4 and 5 also corresponds to this situation in which the front frame 1 rotates. When driving straight, the situation is as shown in Figure 3. With the axes A and B overlapping on the same vertical line, there is an inclination of 15 equal to the two lateral directions. The cab 3 merely tilts if the axes A and B are coincident, allowing the mechanism 4 to be engaged such that the cab 3 always has the same position as the rear frame 2 when the front frame 1 is pivoted. In this case, as the rear frame 2 rotates, the cab 3 will also be tilted accordingly, even if the front frame 1 does not feel expensive, which is uncomfortable. It is preferable for the axes A and B1 to differ from each other so that the cab 3 is inclined each time the front frame 1 or the rear frame 2 is rotated, and the inclination angle remains reasonable regardless of which body is rotated.

The mechanism 4 is coupled to the cab 3 on the one hand and to the rear frame 2 on the other, and thereby enables the tilt movement of the cab 3 to follow the rotation movement of the rear frame 2. Preferably, the cab 3 tilts in the same direction as the front frame 1 as shown in Figures 4, 5 and 6. In the embodiment shown, the following follows in the same direction and the set gear ratio: *: *: 30 is about 1: 2, so that as the front frame 1 rotates, the cab 3 tilts 10 ° to the horizontal when one front wheel crosses an obstacle. The gear ratio of 1: 2 is suitable for machines where each frame is supported by a - ** ·· * blade with a pair of wheels, such as harvesters. Similarly, as the rear frame i2 rotates, for example, 10 °, the cab 3 tilts 5 ° horizontally · · · · · 35 relative to the direction and to the front frame 1 when one rear wheel crosses an obstacle. The gear ratio of 1: 3 is suitable for implements where the front frame 1 117380 6 is supported by a pair of wheels and the rear frame 2 by a four-wheel bogie structure which compensates for uneven terrain.

The gear ratio depends on the coupling points of the mechanism 4. In Figure 1, the me-5 is connected in a cab 3 to a position 6 which deviates laterally from axis A, and in the rear frame 2 to a position 7 which deviates laterally from axis B. The deviations are in the same lateral direction. As a result, as the front frame 1 rotates, the cab 3 tends to follow the position of the rear frame 2 when the distance between points 6 and 7 is locked by the mechanism or otherwise remains constant or constant. The axes A and B rotate relative to each other, resulting in a tilt of the cab 3. The transmission ratio can be easily adjusted to the desired geometry of the axes A, B and 6, 7 by observing it mathematically or experimentally. It is advantageous to position the points 6, 7 away from the axes A and B, whereby the forces transmitted by the mechanism 4 may be smaller. The distance also depends on how the minimum and maximum allowable lengths of the cylinder 4 are selected. Changes in the position of the rod or cylinder 4 also affect the transmitted forces and mo-20s. The cab tilt 3 is increased by moving step 6 closer. or point 7 farther from the machine centerline.

* * • «

For tilting, the work machine has a tilting device 8 coupled between cab 3 and front frame 1, comprising a hardware part 81 '25 mounted on and tilted to front body 1, and a hardware part 82 attached to cab 3 and tilting with it. The mechanism \ J 4 is coupled to the cab 3 or, preferably, the hardware part 82 by means of an articulated joint 9.

m * · 30 For rotation, the work machine has a frame joint 10, which is coupled between the front frame 1 and the rear frame 2, comprising a joint portion 101 secured to and rotated with the front frame 1 and a joint portion 102 which * · * · * is attached to rear frame 3 and rotates with it. The mechanism 4 is connected by means of a joint 11 to the rear frame 2 or, preferably, to a joint part: ***: 35 102. By the shown frame joint 10, the rear frame 2 is arranged to pivot about the front frame 1 about a third axis C substantially vertical. The frame joint 10 typically comprises a keyring 117380 7 having a center line abutting the axial axis B, on whose periphery the joint portion 101 engages and on the inner periphery the joint portion 102. The frame joint 10 also comprises a brake, whereby the mutual position of the joint parts 101, 102 can be locked. Also known are articulated joints with a rotatable 5 position. Preferably, the body joint 10 is such that the rear body 2 is connected by means of the joint 12 to a joint part 102 which folds with the front body 1 but can pivot with the rear body 2 with respect to the front body 1. In this case, the distance of the articulation part 102 relative to the cab 3 and the longitudinal direction of the implement does not change even if the implement is folded and twisted. Thus, for example, the gear ratio is not dependent on folding and the mechanism is simpler.

The mechanism is short when the hinge 6 is disposed above the hinge 7 and when it is located in the same vertical plane that is substantially perpendicular to the longitudinal direction. As shown in Figure 6, the mechanism 4, the tilt mechanism 8 and the frame joint 10 form a particularly short and light-weight structure when placed under and below the cab 3. The mechanism 4 transmits the pulling and pushing forces between the frames 1 and 2 mechanically. In its simplest form, the mechanism 4 comprises a rigid, constant-length rod coupled between the joints 9 and 11, which transmits axial forces. In addition, a damping element may be attached to the bar, e.g. Various articulated and damped structures may also be used, but these are more complex than the disclosed structures. The rod structure can utilize a variety of known dampers that are suitable for use and can be easily fitted to the ♦ ψ rod. Alternatively, to enable control, the mechanism 4 comprises an actuator coupled between points 6 and 7, which is preferably a linear motion cylinder controlled by a pressure medium.

30th By means of the cylinder 4, the distance between the points 6, 7 is controllably adjustable, as shown in Figs. 1-3, whereby the cylinder 4 can be used to actively adjust the position of the cab 3 also in other situations.

The position adjustment may also occur when the bodies 1, 2 35 are not rotated relative to one another, whereby the cab 3 can be kept horizontal when the implement is on a slope. By means of an active actuator 4, automatic levitation of the cab 3 is possible.

117380 8

In another situation, the bodies 1, 2 are rotated relative to one another, particularly when overcoming obstacles, whereby the initial fluctuation of the mechanism 4 is actively corrected after the delay and the cab 3 is moved to a horizontal position. The cylinder 4 is normally locked to a certain length 5 and the control delay causes a fluctuation which is reduced due to the manner of engagement of the cylinder 4. By means of the guide, the cylinder 4 is then lengthened or shortened to obtain the desired position of the cab 3, which corresponds to a horizontal position or is at least more direct than the position of the initial glare.

10

Further, the maximum and minimum lengths of the cylinder 4 may be mechanically limited to the desired, thereby preventing excessive reduction or increase of the distance between the points 6 and 7. For example, in the situation where the bodies 1, 2 are folded in almost their extreme position, there is a danger, for example in harvesters 15, of colliding the corners of the cab 3 with the engine cover which protects the engine. This can be prevented by a minimum length of cylinder 4. In the extreme position, there is only a few centimeters between the cab 3 and the bonnet. The use of cab tilt in this situation would only be possible if the implement had a longer wheelbase or the electronic control provided for a limitation of 20. Extending the wheelbase reduces the harvester's Kette-.V. Providing electronic steering is difficult, especially for rapidly changing situations, such as when a wheel falls over an obstacle, such as a stump. The mechanism 4 has a mechanical restriction which can be applied immediately.

25

Mechanism 4 also limits the use of automatic levellation, particularly in extreme positions. Cylinder 4 is dimensioned such that, with the rear frame 2 rotated to its maximum, cylinder 4 will be minimized when attempting to tilt cab 3 toward rear frame 2 and engine cover. the cylinder 4 forces the cab 3 directly, in which case the tilt of the cab 3 *: ** to the right is limited, but not to the left.

The use of the cylinder 4 makes it possible, in addition, to use various prior art control means to maintain the position of the cab 3 horizontally in different situations. At its simplest, 117380 9 moon 3 is provided with a tilt sensor that controls the valve 4 of the cylinder 4, which controls the volume flow and pressure supplied to the cylinder 4. The cylinder 4 is guided by a valve in a direction that corrects the tilt in the opposite direction. The pressure source is the machine hydraulic system 5, to which the cylinder 4 and its controls are easily connected in various ways.

By means of the mechanism 4, the tilt movement of the cab 3 is also obtainable in the same direction relative to the tilt movement of the front frame 1. In this case, the joints 9 and 11 are disposed on different sides of the axial lines A and B when viewed in the longitudinal direction of the implement. The inclination of the cab 3 is then greater than that of the front frame 1, which is uncomfortable for the operator of the implement. The tilt is compared here to a horizontal position. Although the front frame 1 is horizontal, as the rear frame 2 tilts 15, the cab 3 tilts in the opposite direction, which is uncomfortable for the driver. Inclination in the same direction with the rear frame 2 better indicates to the driver the position of the implement. A slight tilt in different situations gives the driver a good sense of driving.

20

The above describes the mechanism of operation of the mechanism, which is particularly useful in forestry machines. One forestry machine for which the mechanism is particularly well suited is a harvester with a boom mounted on its front body 1 and an engine which is conventionally mounted on its rear body 2! 25 diesel engine. Another working machine for which the mechanism 4 is suitable is a load machine with a motor on the front frame 1 and a load space on the frame 2 for transporting the logs,

A boom is located at the front of the rear frame 2, between the cab 3 and the load compartment.

The invention is not limited to the above embodiment only, but may be modified within the scope of the appended claims.

♦ * • · · • ♦ «:: 35

Claims (22)

117380 An articulated vehicle, comprising at least: a rear axle body (2) arranged to rotate with respect to the front body structure (1) about a second axis (B) parallel to the longitudinal direction of the vehicle, and 15 push and pull movements (4), characterized in that: coupled, on the one hand, to the cab structure (3) at a point (ε) deviating laterally from the first 20 axial line (A) and on the other hand to the rear frame structure (2) at a point (7) deviating the same lateral direction from the second axle line (B); that the tilt movement of the cab structure (3) is arranged to follow the rotation movement of the rear frame structure (2) in the same direction and at a set gear ratio when the distance t 25 between said points (6, 7) is fixed by the mechanism (4). • * Articulated vehicle according to Claim 1, characterized in that it comprises: 30 a tilting device (8) connected between the cab structure (3) and the front frame structure (1) and allowing the cab structure (3) to tilt on the first axis (A). ... around, wherein the tilting apparatus (8) comprises a first piece of equipment (81) which is inclined with the front frame structure (1) v *: 35 and a second piece of equipment (82) which inclines along the guide structure (3), wherein the mechanism (4) is connected to the cab structure (3) or to a second piece of hardware (82) by means of a first 117380 joint (9), a frame joint (10) coupled between the front frame structure (1) and 5 rear frame structure (2); allowing them to rotate with respect to one another about a second axis (B), wherein the body joint (10) comprises a first articulation part (101) rotating with the front frame structure (1) and a second articulation part (102) rotating with the rear body structure (2) The mechanism (4) of the n 10 is connected to the rear frame structure (2) or to the second joint part (102) by means of a second joint (11). Articulated vehicle according to Claim 1 or 2, characterized in that the mechanism (4) comprises a fluid-driven, linearly displaceable cylinder 15 connected between the first and second joints (9, 11), the distance between the joints (9,11) being controllably adjustable. Articulated vehicle according to claim 1 or 2, characterized in that the mechanism (4) comprises a rigid rod 20 coupled between the first and second articulations (9,11), wherein the distance between the articulations (9, 11) is constant. • »I I« »9 · .1 / Articulated vehicle according to one of claims 1 to 4, characterized in that the rear frame structure (2) is arranged to rotate with respect to the front frame body (1) about a third vertical axis (C) which is substantially vertical, wherein the rear frame structure (2) is hingedly connected to a second hinge part (102) which folds with the front frame structure (1). Articulated vehicle according to claim 1, characterized in that the distance between said points (6, 7), which is parallel to the length of the vehicle, is substantially constant when the vehicle is folded, angled or twisted. 9 9 9 9 9 99 9:]]]: 35 Articulated vehicle according to one of claims 1 to 6, characterized in that the first axis of rotation (A) is disposed above the second axis of rotation 9 9 (B). 117380 Articulated vehicle according to claim 2, characterized in that the first articulation (9) is disposed above the second articulation (11) and that the first and second pivot axes (A, B) are disposed in substantially the same vertical plane substantially perpendicular to the longitudinal direction. . Articulated vehicle according to one of Claims 1 to 8, characterized in that the front and rear frame structures (1, 2) are supported by each of 10 or more pairs of wheels, that an engine is positioned on the rear frame structure (2) and that the front frame structure (1) placed boom. Articulated vehicle according to any one of claims 9 to 9, characterized in that the front and rear frame structures (1, 2) are supported by one or more pairs of wheels, that an engine is placed on the front frame structure (1), and that the rear frame structure (2) is located in the cargo area and boom. Articulated vehicle according to Claim 2, characterized in that the articulated parts (101, 102) are connected to one another by means of a circumferential bearing, Y: whose center line is connected to the second axis (B). ♦ »* ·« Articulated vehicle according to one of claims 11 to 11, characterized in that the tilting device (8), the articulated joint (10) and the mechanism • * ..... (4) are located below the cab structure (3). An articulated vehicle according to any one of claims 12 to 12, characterized in that it further comprises a steering system mechanism (4) 30 and a cab structure (3) for actively controlling inclination. • * • · * An articulated vehicle comprising at least: • ** • · · · - a front body structure (1), v: 35 ♦ * · - a cab structure (3) disposed on the front body structure (1) and arranged to tilt to the front body body 117380 (1) about a first axis (A) parallel to the longitudinal direction of the vehicle, a rear frame (2) arranged to rotate with respect to the front frame (1) about a second axis (B) and so on, a traction movement mechanism (4) by which the tilt movement of the cab structure (3) is arranged to follow the rotation movement of the rear body structure (2) in the same direction and at a set gear ratio, characterized in that it further comprises: 3) and between the front frame structure (1) and allowing the cab structure (3) to tilt about the first axis (A) The tilting device (8) comprises a first piece of equipment (81) which is inclined along the front frame structure (1) 20 and a second piece of equipment (82) which inclines guides the structure (3), the mechanism (4) being first: V; connected by means of a ground joint (9) to the cab structure (3) or to another piece of equipment (82), «•» 25. the frame joint (10) connected between the front frame structure (1) and the rear frame structure (2) and allowing them to rotate relative to each other about a second axial line (B), wherein the · ··· * articulated joint (10) comprises a first articulated section (101) which rotates with the front frame structure (1) and a second articulated section 30 (102) which rotates with the rear frame structure (2), the mechanism (4) being connected to the second joint part (102) by means of a second joint (11). · «*« «] J ' Articulated vehicle according to claim 14, characterized in that the mechanism (4) comprises between the first and second articulations (9, 11): !!! is controlled by the wizard. 117380 Articulated vehicle according to claim 14, characterized in that the mechanism (4) comprises a rigid rod coupled between the first and second articulations (9,11), wherein the distance between the articulations (9, 11) is constant. Articulated vehicle according to one of claims 14 to 16, characterized in that the rear frame structure (2) is arranged to rotate with respect to the front frame structure (1) about a third axis (C) which is substantially vertical, the rear frame structure (2) being hinged a second articulation portion (102) which folds with the front body assembly (1). An articulated vehicle according to any one of claims 14 to 17, characterized in that the first axis of rotation (A) is disposed above the second axis of rotation (B). Articulated vehicle according to claim 14, characterized in that the distance of the first articulation (9) from the first pivot axis 20 (A) is greater than the distance of the second joint (11) from the second pivot axis (B), whereby the intermediate: V rotation of the front frame (1) and the rear frame structure (2) is greater than that of the cab structure (3) and the front frame. \ tilt between field (1). Articulated vehicle according to Claim 19, characterized in that said distances are adapted so that the inclination to rotation ratio is desired, preferably 1: 2 or 1: 3. • · • · Articulated vehicle according to claim 14 or 19, characterized in that the first articulation (9) is disposed above the second articulation (11) and that the first and second rotary axes (A, B) are disposed in substantially the same vertical plane as longitudinal ..... substantially perpendicular. • «« v s 35 An articulated vehicle according to claim 14, characterized in that the second articulation part (102) comprises a flange structure which protrudes from the articulated part (102) and in which the second articulation part (11) is disposed. 117380