JP2022129956A - Travel vehicle - Google Patents

Abstract

To provide a travel vehicle which is mounted with a vehicle body level control mechanism capable of appropriately performing vertical motion control of a right-and-left travel device depending on a condition of a travel area in order to overcome a difficulty in appropriately performing the vertical motion control of a right-and-left travel crawler on the basis of a detection of a rightward or leftward inclination of a rolling inclination sensor mounted on a travel vehicle body because a condition like hardness of soil surfaces and frequency of inclination changes vary depending on agricultural fields.SOLUTION: In a travel vehicle, vehicle body level control of a travel vehicle body is performed in a manner that: causes a control device 32 to activate an actuator on the basis of a detection of rightward or leftward inclination of the travel vehicle body obtained through a rolling inclination sensor 33; and moves a right-and-left travel device up and down. The control device 32 has delay means 32a through which the actuator is activated. Delay adjustment means 40 enables a delay setting value for the delay means 32a to be adjusted.SELECTED DRAWING: Figure 4

Description

TECHNICAL FIELD The present invention relates to a traveling vehicle such as a combine harvester for harvesting and threshing culms, and more particularly to a traveling vehicle provided with a vehicle body horizontal control mechanism.

In conventional combine harvesters, the horizontal movement of the crawlers is controlled by a hydraulic cylinder based on the detection of the horizontal inclination by a rolling inclination sensor provided on the traveling vehicle body. Instead, the traveling vehicle body is maintained in a left-right horizontal posture (see Patent Document 1, for example).

JP 2010-227077 A

However, conditions such as the hardness of the soil surface and the frequency of inclination change differ depending on the field, and it is difficult to properly control the vertical movement of the left and right traveling crawlers based on the detection of the left and right inclination by the rolling inclination sensor provided on the traveling vehicle body. there were.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a traveling vehicle equipped with a vehicle body horizontal control mechanism capable of appropriately controlling the vertical movement of the left and right traveling devices in accordance with the conditions of the ground on which the vehicle is traveling. and

According to the first aspect of the present invention, a traveling vehicle body 1 is provided with left and right traveling devices 2, 2 that move vertically by means of actuators 21, and a rolling inclination sensor 33 that detects the horizontal inclination of the traveling vehicle body 1, and the rolling inclination sensor 33 is provided. In a traveling vehicle that horizontally controls the traveling vehicle body 1 by actuating the actuator 21 by the control device 32 to move the left and right traveling devices 2, 2 in the vertical direction based on the detection of the horizontal inclination of the traveling vehicle body 1, the control device 32, the actuator 21 is operated via the delay means 32a provided in the vehicle 32, and the delay setting value of the delay means can be adjusted by the delay adjustment means 40.

According to the first aspect of the invention, the actuator 21 is actuated through the delay means 32a provided in the control device 32, and the delay setting value is adjustable by the delay adjustment means 40, so that it can be adjusted according to the conditions of the running ground. Accordingly, the delay setting value is adjusted by the delay adjustment means 40 to make the control sensitivity of the vehicle body horizontal control appropriate, and the vertical movement of the left and right travel devices 2, 2 based on the detection of the left and right inclination of the rolling inclination sensor 33 is made appropriate. By doing so, the vehicle body horizontal control can be performed appropriately.

Further, if the delay setting value is determined by the delay adjusting means 40 in accordance with the conditions of the running ground, the control sensitivity can be set immediately and easily with good operational feeling.

The invention according to claim 2 is the traveling vehicle according to claim 1, wherein the delay adjusting means 40 is an adjustment dial provided near the driver's seat of the traveling vehicle body.

The invention according to claim 3 is the traveling vehicle according to claim 1, wherein the delay adjusting means 40 is provided in the information terminal 41, and the information terminal 41 communicates with the traveling vehicle.

The invention according to claim 4 is an inertial measuring instrument 42 in which the rolling tilt sensor 33 is provided in the information terminal 41, the information terminal 41 communicates with the traveling vehicle, and the information terminal 41 is mounted on the traveling vehicle. 4. A traveling vehicle according to any one of items 1 to 3.

According to the fifth aspect of the present invention, the delay setting value sets the delay time from when the vehicle body control controller 32 makes an output judgment for right/left tilt correction based on the left/right tilt value of the rolling tilt sensor 33 to when the actuator 21 is operated. The traveling vehicle according to any one of claims 1 to 4, which is a vehicle.

It is a left side view of a combine according to an embodiment of the present invention. It is a side view which shows the principal part of the same combine. It is a hydraulic circuit diagram of the same combine. It is a control block diagram of the same combine. It is a plan view for action explanation of the principal part of the same combine. It is an output delay setting table of the same combine. It is an output time chart of the same combine. FIG. 10 is a plan view for explaining the action of the second embodiment of the present invention; It is an output delay setting graph showing the second embodiment. It is a moving average time setting table showing a third embodiment of the present invention. It is a graph of the inclination detection image which shows the same 3rd Embodiment. It is a moving average time setting graph showing a fourth embodiment of the present invention. It is a dead zone width setting table showing a fifth embodiment of the present invention. It is a graph of the inclination detection image which shows the said 5th Embodiment. It is a dead zone width setting graph showing a sixth embodiment of the present invention. It is a control block diagram which shows 7th Embodiment of this invention. FIG. 14 is a dial mode setting table showing an eighth embodiment of the present invention; FIG.

EMBODIMENT OF THE INVENTION Hereinafter, embodiment of the combine which this application discloses with reference to an accompanying drawing is described in detail. In addition, this invention is not limited by embodiment shown below.

<Overall composition>
First, based on FIG. 1, the overall configuration of the combine will be described.

Underneath the traveling vehicle body 1, left and right traveling crawlers 2, 2 made of a flexible material such as rubber as a traveling device and molded into an endless band shape are equipped, and are suitable not only for dry fields but also for wet fields. can run.

A reaper 3 is mounted on the front portion of the traveling vehicle body 1 , and an engine, a threshing device 4 , a cabin 5 and a grain tank 6 (not shown) are mounted on the upper portion of the traveling vehicle body 1 .

The reaping device 3 is constructed so that the entire reaping device 3 can be moved up and down by the expansion and contraction of a reaping elevating cylinder (not shown) to reap the grain stalks growing in the field at a predetermined height. A weed dividing tool 7 is arranged at the lower front end of the reaper 3, an inclined grain culm lifting device 8 is arranged behind it, and a cutting blade 9 is arranged at the rear bottom thereof. Between the cutting blade 9 and the leading end of the feed chain 10 of the threshing device 4, conveying devices such as a front conveying device, a threshing depth adjusting device, and a feeding and conveying device are sequentially arranged to carry out the transfer of culms and adjust the threshing depth. are arranged so that

Operation of the reaping device 3 takes place as follows. First, start the engine and operate the operation levers for speed change and steering so that the combine moves forward, and engage the reaping/threshing clutch (not shown) to transmit the rotating parts of the machine. Reaping and threshing work is started when the traveling vehicle body 1 is caused to travel forward. Grain culms planted in a field are divided by a weed dividing device 7 at the lower front end of the reaping device 3, and then lifted up by the culm raising device 8 if they are lying down, to an upright state. Then, the base of the grain stalk reaches the cutting blade and is harvested. The stalk is picked up by the front conveying device and conveyed backward. be transported.

Grain culms are transferred from the feeding and conveying device to the starting end of the feed chain 10 and supplied to the threshing device 4 . The culms supplied to the threshing device 4 are threshed by a threshing cylinder (not shown), and the material to be processed (grains) is transported to the grain tank 6 and temporarily stored in the grain tank 6 . The grains stored in the grain tank 6 are discharged to the outside by a grain tank spiral (not shown) for grain transfer at the bottom of the grain tank 6 and a discharge auger 13 consisting of a vertical auger 11 and a horizontal auger 12. Ejected.

<Vehicle horizontal control mechanism>
FIG. 2 shows a side view of a traveling device of a combine harvester. Left and right traveling crawlers 2, 2 provided on the lower side of a traveling vehicle body 1 are provided independently and vertically movable. An engine (not shown), a threshing device 4, a cabin 5, a grain tank 6 and the like are provided.

A crawler frame 15 on which the rollers 14 of the traveling crawlers 2, 2 are arranged is supported by a pair of front and rear support arms 16, 17 so as to be vertically movable in parallel with the traveling vehicle body 1. The upper end of the side support arm 16 and the bracket 18 on the vehicle body 1 are connected by a rolling cylinder (vehicle height adjusting cylinder) 21 as an actuator that is expanded and contracted by a rolling control valve 20 of the hydraulic circuit 19, and , the front and rear support arms 16 and 17 are connected by a rod 22, and the expansion and contraction of the rolling cylinder 21 rotates the support arms 16 and 17 around the pivot portions 23 and 24 of the traveling vehicle body 1, thereby rotating the crawler frame 15. is configured to move up and down.

On the other hand, a sprocket 25 at the front end of the traveling crawler 2 is fixed to a drive shaft 26 protruding left and right from a traveling transmission case integral with the front end of the traveling vehicle body 1. Rotation of the sprocket 25 causes the traveling crawler to rotate. - can drive LA2; The chassis 27 supports the vehicle body 1 at its front end so as to be rotatable about the axis of the pivot 16, and supports the vehicle body 1 at its rear end via a link arm 28. The upper end of the link arm 28 A pitching cylinder 30 whose expansion and contraction is controlled by a pitching control valve 29 of a hydraulic circuit 19 shown in FIG. The chassis 27 can be tilted back and forth around the pivotal support portion 16 of the support arm 17 by rotating it as a rotation fulcrum.

The hydraulic circuit 19 shown in FIG. These are in the form of electromagnetic solenoids.

A rolling tilt sensor 33 for detecting the lateral tilt of the traveling vehicle body 1 and a pitching tilt sensor 34 for detecting the longitudinal tilt of the traveling vehicle body 1 are connected to the input side of the vehicle body controller 32 as a control device shown in FIG. Left and right vehicle height solenoids 35, 35 for operating the left and right rolling control valves 20, 20 and a pitching solenoid 36 for operating the pitching control valve 29 are connected to the side.

Further, to the input side of the vehicle body control controller 32, a left and right vehicle height position sensor 37 for detecting the vertical gap between the left and right traveling crawlers 2, 2 and the traveling vehicle body 1 from the rotational angles of the support arms 16, 17 is connected. Furthermore, it is CAN-connected to the operation system controller 38 .

The operation system controller 38 operates the left and right vehicle height solenoids 35, 35 according to the detection value of the rolling inclination sensor 33 to switch the left and right rolling control valves 20, 20 to operate the left and right rolling cylinders 21, 21. A vehicle level switch 39 for turning on and off the pitching control for switching the pitching control valve 29 and operating the pitching cylinder 30 by operating the pitching solenoid 36 according to the detected value of the pitching tilt sensor 34, and a delay for adjusting the operating sensitivity of the vehicle level control. An adjusting dial 40 as adjusting means is connected.

When the vehicle body horizontal switch 39 is turned on, vehicle horizontal control and pitching control are activated. That is, in the vehicle body horizontal control, when the traveling vehicle body 1 tilts in the horizontal direction, the rolling tilt sensor 33 detects the horizontal tilt, the horizontal tilt value is input to the vehicle body controller 32, and the vehicle body controller 32 detects the horizontal tilt. Depending on the value, the left and right vehicle height solenoids 35, 35 are actuated via the delay means 32a to switch the left and right rolling control valves 20, 20 to operate the left and right rolling cylinders 21, 21 to correct the traveling vehicle body 1 horizontally.

The vehicle body horizontal control will be described in more detail with reference to FIGS. 5 to 7. FIG.

First, the adjustment dial 40 is provided on the operation panel near the cockpit in the cabin 5, and has setting positions 1 to 5 from the sensitive side to the insensitive side as shown in FIG. Then, as shown in FIG. 6, the delay setting values are determined according to the setting positions 1-5.

The delay set value is the delay time from when the vehicle body controller 32 determines the output for right/left tilt correction based on the left/right tilt value of the rolling tilt sensor 33 to when the output for switching the left/right rolling control valves 20, 20 is output. It is.

For example, when the adjustment dial 40 is set to the setting position 3, the delay setting value becomes 50 ms as shown in FIG. Then, as shown in FIG. 7, 50 ms after the vehicle body controller 32 determines whether to correct the left/right tilt, the left/right rolling control valves 20, 20 output to the left/right vehicle height solenoids 35, 35, and the left/right rolling control valves 20, 20 are switched to operate the left and right rolling cylinders 21, 21. If the left/right tilt value from the rolling tilt sensor 33 changes within 50 ms of the delay setting value and the output judgment of the vehicle body control controller 32 is changed, the first output to the left/right vehicle height solenoids 35, 35 is cancelled. .

The sensitivity setting by the adjustment dial 40 is such that, for example, in a field with severe unevenness where left and right tilts occur frequently, the adjustment dial 40 is set to the setting position 5 on the insensitive side, and the left and right traveling crawlers 2, 2 are frequently moved up and down. To enable smooth horizontal control by preventing a hunting phenomenon from occurring. Further, in a field flattened to a uniform plane with a high degree of horizontality, the adjustment dial 40 is set to the setting position 1 on the sensitive side so that the horizontal control can be performed immediately following changes in the field.

Therefore, the set position of the adjustment dial 40 is determined according to conditions such as the hardness of the soil surface of the field and the frequency of inclination change, and the vehicle body control controller 32 corrects the horizontal inclination based on the horizontal inclination value of the rolling inclination sensor 33. The delay time (delay set value) from output determination to switching output of the left and right rolling control valves 20, 20 is changed to make the control sensitivity appropriate, and the left and right traveling chromatograph based on the detection of the left and right inclination of the rolling inclination sensor 33 is changed. - The vehicle body horizontal control can be performed appropriately by appropriately performing the vertical movement control of the wheels 2,2.

In addition, if the operator determines the setting position of the adjustment dial 40 according to conditions such as the hardness of the soil surface of the field and the frequency of inclination change, the operator can immediately and easily set the appropriate control sensitivity with good operational feeling.

<Another embodiment>
(1) FIGS. 8 and 9 show a second embodiment in which the adjustment dial 40 can change the delay set value steplessly.

That is, the adjustment dial 40 is a dial that rotates steplessly from the sensitive side to the insensitive side, and the delay set value shown in the graph of FIG. 9 is set according to the position to which it is turned.

(2) FIGS. 10 and 11 show a third embodiment in which the control sensitivity is set by changing the moving average time of the horizontal tilt detection value of the rolling tilt sensor 33 with the adjustment dial 40. FIG.

That is, when the adjustment dial 40 is set to the setting positions 1 to 5, as shown in FIG. 10, the moving average setting value (time) is determined according to each setting position. For example, at setting position 1, the moving average set value is 100 ms, which is the short-time moving average, and the control sensitivity is the most sensitive. . A moving average slope detection image is shown in FIG.

(3) FIG. 12 shows a fourth embodiment in which the adjustment dial 40 can steplessly change the moving average set value (time) in the control sensitivity setting of the third embodiment.

That is, the adjustment dial 40 is a dial that rotates steplessly from the sensitive side to the insensitive side, and the moving average setting value of the graph shown in FIG. 12 is set according to the position to which it is turned.

(4) FIGS. 13 and 14 show a fifth embodiment in which the dead band width of the rolling tilt sensor 33 is changed by the adjustment dial 40 to set the control sensitivity.

That is, when the adjustment dial 40 is set to the setting positions 1 to 5, as shown in FIG. 13, the dead zone width setting value is determined according to each setting position. For example, at setting position 1, the dead band width setting is 1 dig, the dead band width is the narrowest and the control sensitivity is the most sensitive, and at setting position 5, the dead band width is the widest setting and the control sensitivity is the most insensitive. . A tilt detection image is shown in FIG.

(5) FIG. 15 shows a sixth embodiment in which the dead band width can be steplessly changed with the adjustment dial 40 in the control sensitivity setting of the fifth embodiment.

That is, the adjustment dial 40 is a dial that rotates steplessly from the sensitive side to the insensitive side, and the dead band width set value shown in FIG. 15 is set according to the position to which it is turned.

(6) FIG. 16 shows a seventh embodiment using an information terminal 41 such as a smart phone (hereinafter referred to as smart phone 41).

That is, the smartphone 41 is mounted on the smartphone mounting base provided on the operation panel near the cockpit in the cabin 5, and the inertia measuring device 42 built in the smartphone 41 detects the lateral inclination and the longitudinal inclination of the traveling vehicle body 1, and detects the left and right The tilt value and the longitudinal tilt value are input to the vehicle body controller 32 by communication means such as Bluetooth. The vehicle body controller 32 executes vehicle body horizontal control and pitching control similar to those of the first to sixth embodiments based on the lateral tilt value and the longitudinal tilt value.

Also, the same icon as that of the adjustment dial 40 is set on the screen of the smartphone 41, and the icon is used to set the same control sensitivity as in any one of the first to sixth embodiments.

(7) FIG. 17 shows an eighth embodiment in which the control sensitivity is set by changing the delay set value, the moving average time of the horizontal tilt detection value of the rolling tilt sensor 33, and the dead band width of the rolling tilt sensor 33. FIG.

That is, when the adjusting dial 40 is set to the setting positions 1 to 5, as shown in FIG. 17, the delay setting value, the moving average time setting value and the dead band width setting value are determined according to each setting position.

(8) In the above embodiments, the control sensitivity of the vehicle body horizontal control is changed, but the control sensitivity of the pitching control may be changed in the same manner.

That is, an adjustment dial for pitching control is provided to change the control sensitivity of pitching control in the same manner as in the first to eighth embodiments.

1 traveling vehicle body 2 left and right traveling device (left and right traveling crawler)
21 actuator (rolling cylinder)
32 control device (body control controller)
32a delay means 33 rolling tilt sensor 40 delay adjustment means (adjustment dial)
41 Information terminals (smartphones)
42 Inertial Instruments

A first aspect of the present invention is
A traveling vehicle body (1) is provided with left and right traveling devices (2, 2) that move vertically by means of an actuator (21) and a rolling inclination sensor (33) that detects the horizontal inclination of the traveling vehicle body (1). Based on the sensor (33) detecting the lateral tilt of the traveling vehicle body (1), the control device (32) operates the actuator (21) to move the left and right traveling devices (2, 2) in the vertical direction, thereby moving the traveling vehicle body ( In a traveling vehicle that controls the vehicle body horizontality of 1), the actuator (21) is operated via the delay means (32a) provided in the control device (32),
The delay adjusting means (40) allows the delay set value in the delay means to be adjustable,
The rolling tilt sensor (33) is an inertial measuring instrument (42) provided in the information terminal (41),
An information terminal (41) can communicate with a traveling vehicle,
The traveling vehicle is characterized in that an information terminal (41) is mounted in a cabin (5) of the traveling vehicle.
A second aspect of the present invention is
The traveling vehicle according to the first aspect of the present invention is characterized in that the delay adjusting means (40) is an adjustment dial provided near the driver's seat of the traveling vehicle.
A third aspect of the present invention is
A traveling vehicle according to the first aspect of the present invention, wherein a delay adjusting means (40) is provided in an information terminal (41), and the information terminal (41) communicates with the traveling vehicle.
The fourth aspect of the present invention is
The delay set value is a delay time from when the control device (32) makes an output judgment for right/left tilt correction based on the left/right tilt value of the rolling tilt sensor (33) to when the actuator (21) is operated. A traveling vehicle according to any one of the first to third aspects of the present invention.
In a first invention related to the present invention, a traveling vehicle body 1 is provided with left and right traveling devices 2, 2 that move vertically by an actuator 21, and a rolling tilt sensor 33 that detects the horizontal inclination of the traveling vehicle body 1. In a traveling vehicle that horizontally controls the traveling vehicle body 1 by actuating the actuator 21 by the control device 32 based on the detection of the lateral inclination of the traveling vehicle body 1 by the inclination sensor 33 to move the left and right traveling devices 2 in the vertical direction, In this traveling vehicle, the actuator 21 is operated through the delay means 32a provided in the control device 32, and the delay setting value of the delay means can be adjusted by the delay adjustment means 40. FIG.

According to the first invention related to the present invention, the actuator 21 is operated via the delay means 32a provided in the control device 32, and the delay setting value is adjustable by the delay adjustment means 40, so that the running ground is improved. , the delay setting value is adjusted by the delay adjustment means 40 to make the control sensitivity of the vehicle body horizontal control appropriate, and the vertical direction of the left and right traveling devices 2, 2 is adjusted based on the detection of the left and right tilt by the rolling tilt sensor 33. The horizontal control of the vehicle body can be properly performed by moving properly.

Further, if the delay setting value is determined by the delay adjusting means 40 in accordance with the conditions of the running ground, the control sensitivity can be set immediately and easily with good operational feeling.

A second invention related to the present invention is the traveling vehicle according to the first invention related to the present invention, wherein the delay adjusting means 40 is an adjustment dial provided near the driver's seat of the traveling vehicle body.

A third invention related to the present invention is the traveling vehicle of the first invention related to the present invention, in which the delay adjustment means 40 is provided in the information terminal 41, and the information terminal 41 communicates with the traveling vehicle.

A fourth invention related to the present invention is an inertial measuring instrument 42 in which a rolling tilt sensor 33 is provided in an information terminal 41, the information terminal 41 communicates with a traveling vehicle, and the information terminal 41 is mounted on the traveling vehicle. A traveling vehicle according to any one of the first to third inventions related to the present invention .

In a fifth invention related to the present invention, the delay setting value is a delay from when the vehicle body control controller 32 makes an output judgment for right/left tilt correction based on the left/right tilt value of the rolling tilt sensor 33 to when the actuator 21 is operated. The traveling vehicle according to any one of the first to fourth inventions related to the present invention, wherein the time is set.

Claims (5)

A traveling vehicle body (1) is provided with left and right traveling devices (2, 2) that move vertically by means of an actuator (21) and a rolling inclination sensor (33) that detects the horizontal inclination of the traveling vehicle body (1). Based on the sensor (33) detecting the lateral tilt of the traveling vehicle body (1), the control device (32) operates the actuator (21) to move the left and right traveling devices (2, 2) in the vertical direction, thereby moving the traveling vehicle body ( 1), the actuator (21) is operated via the delay means (32a) provided in the control device (32), and the delay setting in the delay means is performed by the delay adjusting means (40). A running vehicle characterized in that the value is adjustable. A traveling vehicle according to claim 1, characterized in that the delay adjusting means (40) is an adjustment dial provided near the driver's seat of the traveling vehicle. A traveling vehicle according to claim 1, characterized in that the delay adjusting means (40) is provided in the information terminal (41), and the information terminal (41) communicates with the traveling vehicle. A rolling tilt sensor (33) is an inertial measuring instrument (42) provided in an information terminal (41), the information terminal (41) communicates with a traveling vehicle, and the information terminal (41) is mounted on the traveling vehicle. The traveling vehicle according to any one of claims 1 to 3, characterized in that The delay set value is a delay time from when the vehicle body control controller (32) makes an output judgment for right/left tilt correction based on the left/right tilt value of the rolling tilt sensor (33) to when the actuator (21) is operated. The traveling vehicle according to any one of claims 1 to 4, wherein

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