JP2562854Y2 - Work vehicle parallel return control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Industrial application field The present invention relates to a working vehicle such as a combine or a harvester having a traveling body supported by a pair of left and right traveling devices, and more specifically, to parallel return of the traveling body. The present invention relates to a control device.

(B) Conventional technology Generally, in a combine, when returning the aircraft to the parallel state from the automatic inclination (horizontal) control state by the inclination detection sensor, the operator judges the parallel state of the aircraft with a sense and performs manual operation. By operating the lever several times to elevate and lower the airframe with respect to the left and right traveling devices, the airframe is brought into a substantially parallel state.

(C) Problems to be solved by the invention By the way, as described above, the method of returning the body to a substantially parallel state with the manual operation lever requires the operator to operate the operation lever several times, which is time-consuming. It was bothersome and time consuming. Furthermore, since the determination is made based on the operator's feeling, the balance relationship of the body with respect to the left and right traveling devices cannot be determined by the operator, and it is difficult to adjust the right and left parallelism, and the operated parallel state is also inaccurate.

In view of the above, the present invention provides a work vehicle parallelism return control device configured to return the body to a parallel state by parallel detection means for detecting a parallel position of the body with respect to the left and right traveling devices, thereby solving the above-described problem. It is intended to do so.

(D) Means for Solving the Problems The present invention has been made in view of the above-described circumstances. For example, referring to FIG. 1, FIG. 2, and FIG. It is supported by a pair of right and left traveling devices (2, 2 '), and left and right hydraulic cylinders (22, 22') are interposed between these traveling devices (2, 2 ') and the traveling body (3). In the working vehicle (1) having the traveling body (3) controlled to be tiltable left and right, a parallel detecting means (65) for detecting a parallel position of the traveling body (3) with respect to the traveling device (2, 2 '). , 66) and the traveling body (3) based on the selective operation.
A parallel command switch (61) for issuing a command to bring the two into a parallel state, and based on a command from the parallel command switch (61), only one of the left and right hydraulic cylinders (22, 22 ') is operated. Parallel return control means (69) for instructing the parallel detection of the traveling body (3) by the parallel detection means (65, 66).

(E) Operation In the present invention having the above-described configuration, when the operator presses the parallel command switch (61), the parallel return control means (6) is pressed.
9) operates and controls only one of the left and right hydraulic cylinders (22, 22 ') and instructs the traveling body (3) to return to the parallel state by the parallel detection means (65, 66). When (3) is in the parallel position, the hydraulic cylinder (22,22 ')
Is stopped, and the parallel return is terminated.

(F) Effects of the invention As described above, according to the invention, when the operator presses the parallel command switch (61), the parallel detection means (65, 6) is pressed.
The traveling body (3) automatically returns to the parallel state based on the parallel position of the traveling body according to (6), so that the operator does not need to manually perform the operation many times, and simply and accurately without relying on the operator's feeling. Parallel return is possible.

The reference numerals in parentheses refer to the drawings, and do not limit the configuration.

(G) Embodiment Hereinafter, an embodiment according to the present invention will be described with reference to the drawings.

As shown in FIG. 2, the combine 1 has a body frame 3 supported by a pair of right and left crawler traveling devices 2, 2 'so as to be able to move up and down. A transmission 5 is provided in front of the body frame 3. Are located. Since the crawler traveling devices 2, 2 'have the same configuration, only the configuration of the left crawler traveling device 2 will be described.

The front crawler traveling device 2 has a track frame 6 over substantially the entire length thereof.
A first wheel 7, a front swing wheel 9, 9 ', a rear swing wheel 10, 10', and fixed wheels 11, 12 are mounted from the front. The front swing wheels 9 and 9 'are swingably attached to the track frame 6 via a swing arm 13, and the rear swing wheels 10 and 10' are swing arm.
The front swing wheels 9 and 9 'and the rear swing wheels 1
Numerals 0 and 10 'are configured to swing according to the field scene. Further, a guide pipe is provided at the rear of the track frame 6.
The idler holder 17 is swingably inserted through the guide pipe 16. The idler holder
Reference numeral 17 extends rearward of the track frame 6, and an idler 19 is rotatably supported at the rear end thereof.

A drive sprocket 20 is rotatably supported in front of the body frame 3 below the front transmission 5, and an upper rolling wheel 21 is rotatably supported in a substantially central portion below the body frame 3. I have.

One end of an elevating hydraulic cylinder 22 is rotatably supported by a pin 23 at a central portion of the body frame 3, and a distal end portion of a piston rod 22 a of the elevating hydraulic cylinder 22 is provided via a pin 24. A lever 25 is rotatably supported. The lifting hydraulic cylinder 22 of the body frame 3
A connecting rod 26 is arranged at a lower part of the connecting rod 26. One end of the connecting rod 26 is rotatably supported by the lever 25 via a pin 29, and the other end is connected to the lever 25 via a pin 30.
31 is rotatably supported.

A lower end portion of the lever 25 is rotatably attached to a lower portion of the body frame 3 via a swing arm support shaft 32, and one end of a swing arm 33 is rotatable on the swing arm support shaft 32. The lever is inserted
It is fixed to one end of 25. At the other end of the swing arm 33, one end of a swing arm 36 is rotatably supported via a pin 35, and the other end of the swing arm 36 is connected to the track frame 6 via a swing arm support shaft 37. It is rotatably mounted. Further, one end of a forward / backward moving hydraulic cylinder 39 is rotatably supported on the upper portion of the track frame 6 via a pin 38.
The distal end portion of the piston rod 39 a is rotatably attached to the swing arm 33 via a pin 40.

The lower end of the lever 31 is a swing arm support shaft.
A swing arm is attached to the lower part of the body frame 3 via a swing arm 41 and a swing arm
One end of 42 is rotatably inserted and the lever 31
Is fixed to one end. One end of a swing arm 45 is rotatably supported at the other end of the swing arm 42 via a pin 43, and the other end of the swing arm 45 is connected to the track frame 6 via a swing arm support shaft 46. It is rotatably mounted. Further, one end of an idler connecting link 49 is rotatably supported at the tip of the swing arm 42 on the swing arm support shaft 41 side via a pin 47,
The other end of the idler connecting link 49 is connected to the idler holder 17.
Is rotatably mounted via a pin 50.

Further, the driving sprocket 20, the first wheel 7, the front swing wheels 9, 9 ', the rear swing wheels 10, 10', the fixed wheels
A crawler 51 is wound around the wheels 11, 12, the idler 19 and the upper wheel 21.

Also, as shown in FIG. 1, an operation lever 60, a parallel return push button switch 61,
An airframe horizontal main switch 62 and an inclination setting dial 63 are provided. When the operation lever 60 is operated in the direction of the arrow, the body frame 3 is lowered (both hydraulic cylinders 22, 22 'are operated to lower the body frame 3), and when the operation lever 60 is operated in the direction of the arrow, the body frame 3 is moved. Is raised (both hydraulic cylinders 22 and 22 'operate to raise the body frame 3), and when operated in the direction of the arrow, the body frame 3 is lowered to the left (the hydraulic cylinder 22 for left lifting and lowering is operated in the downward direction; The lifting / lowering hydraulic cylinder 22 'operates in the upward direction, and when the operation is performed in the direction of the arrow, the body frame 3 lowers to the right (the right vertical hydraulic cylinder 22' operates in the downward direction, and the left vertical hydraulic cylinder 22 operates in the upward direction). It is configured to be.

Also, as shown in FIG.
A stroke sensor 65, a stroke sensor 66 for the right ascending / descending hydraulic cylinder 22 ', and a tilt sensor 67, an operation lever 60, a parallel return push button switch 61,
Signals from the body horizontal main switch 62, the slope setting dial 63 for setting the body inclination angle, the stroke sensors 65 and 66, and the inclination sensor 67 are input to the control device 68 and controlled. Further, signals from the parallel-return push button switch 61, the stroke sensors 65 and 66, and the inclination sensor 67 are input to the parallel-return control means 69 of the control device 68 and controlled.

When the aircraft horizontal main switch 62 is ON, the aircraft horizontal automatic pilot 70 is turned on. Furthermore, the control device
With the output from 68, the solenoid valve 71 operates the hydraulic cylinder 22 for raising and lowering the left to raise or lower the body frame 3, and the solenoid valve 72 operates the hydraulic cylinder 22 'for raising and lowering the right to move the body frame 3 Raise or lower.

Since the present embodiment has the above-described configuration, when the operation lever 60 is operated in the direction of the arrow that raises the body frame 3, a signal is input to the control device 68, and the control device 68
When the solenoid valve 71 operates the hydraulic cylinder 22 for raising and lowering left by the output from the piston rod 22, the piston rod 22a extends forward. In conjunction with the piston rod 22a, the lever 2
5 and the swing arm 33 rotate around the swing arm support shaft 32 to push down the swing arm 36, and the lever 31 and the swing arm 42 rotate around the swing arm support shaft 41 via the connecting rod 26. As a result, the swing arm 45 is pushed downward, so that the track frame 6 is pushed downward.
Is raised. Then, in conjunction with the rotation of the swing arm 42, the idler connecting link 49 moves the idler holder 17 and the idler 19 forward to reduce the interval between the fixed wheel 12 and the idler 19, so that the circumferential length of the crawler 51 is It remains constant. Also, the right ascending and descending hydraulic cylinder 22 'operates in the same manner.

Next, the operation of the present embodiment will be described based on the flowchart of FIG.

First, the automatic switch of the aircraft horizontal main switch 62 is turned on.
It is determined whether or not the automatic switch is ON (S1), and it is determined whether or not the lowering manual switch of the operation lever 60 is ON (S2). In step S2, if the manual switch is ON, it is determined whether the tilt sensor value is lower left or right with respect to the tilt set angle (S3). If the left tilt sensor value is lower, the right and left The hydraulic cylinder (hereinafter abbreviated as right cylinder) 22 'operates to lower the body frame 3 (S4), shifts to return (S5), and proceeds to step
Returning to S1, if the right inclination sensor value is low, the left ascending and descending hydraulic cylinder (hereinafter abbreviated as the left cylinder) 22 is in a lowered state (S6), the process returns to (S5) and returns to step S1, When the inclination set angle is equal to the inclination sensor value, the right cylinder 22 'is lowered (S7), and the step S6 is performed.
Then, the left cylinder 22 is lowered, and the process returns to step (S5) and returns to step S1.

Then, in step S2, the manual switch is
If it is OFF, it is determined whether or not the manual switch for raising the operation lever 60 is ON (S8). If the manual switch is ON, which of the left and right tilt sensor values is higher than the tilt set angle? It is determined (S9). In the step S9,
If the left inclination sensor value is high, the right cylinder 22 'is raised (S10), and the flow shifts to the return (S5) to go to step S1.
When the tilt sensor value on the right side is high, the left cylinder 22 is raised (S11), and the process proceeds to return (S5) and returns to step S1. 22 'is raised (S12), and the process proceeds to step S11, where the left cylinder 22 is raised,
The process proceeds to return (S5) and returns to step S1.

Then, in step S8, the manual switch is
If it is OFF, it is determined whether the manual switch is ON (S13). In step S13, the manual switch is
In the case of ON, the left cylinder 22 is lowered and the right cylinder 22 'is raised (S14), and the process proceeds to return (S5) and returns to step S1. If the manual switch is OFF,
It is determined whether the manual switch is ON (S15). If the manual switch is ON in step S15,
When the right cylinder 22 'is lowered and the left cylinder 22 is raised (S16), the flow returns to step (S5) and returns to step S1. When the manual switch is OFF, the inclination sensor value with respect to the inclination set angle is: It is determined whether the left or right is higher (S1
7). In step S17, if the right tilt sensor value is high, the right cylinder 22 'is lowered (S18), and the flow returns to step (S5) to return to step S1. If the left tilt sensor value is high, , The right cylinder 22 'is raised (S1
9), return to (S5) and return to step S1. When the inclination set angle and the inclination sensor value become equal, the right cylinder 22 '
Is stopped, and the process proceeds to the return (S5) and returns to step S1.

In step S1, if the automatic switch of the aircraft horizontal main switch 62 is OFF, the parallel return flag is determined (S120). If the parallel return flag is 0, whether the parallel return push button switch 61 is ON is determined. Is determined (S12
1) When the parallel return push button switch 61 is ON, the parallel return flag becomes 1 (S122),
The values of the left and right cylinders 22, 22 'are determined by comparing the values of the stroke sensors 65, 66 of the 22, 22' strokes (S123). If the parallel return flag is 1 in step S120, the process proceeds to step S123. If the left cylinder 22 is low in step S123,
Only the left cylinder 22 is raised (S124), the process returns to (S5) and returns to step S1. If the right cylinder 22 'is low, only the right cylinder 22' is raised (S125) and returned (S5). When the height of the left cylinder 22 becomes equal to the height of the right cylinder 22 ', the left cylinder 22 or the right cylinder 22' stops rising and the parallel return flag becomes 0.
(S126), it is determined whether or not the manual switch of the operation lever 60 is ON (S27). If the parallel-return push-button switch 61 is OFF in step S121, the process proceeds to step S27.

If the manual switch is ON in step S27, the right cylinder 22 'is lowered (S28).
At the same time, the left cylinder 22 'is lowered (S29) and returned (S
Go to 5), return to step S1, and turn off the manual switch.
In this case, it is determined whether or not the manual switch is ON (S30). In step S30, the manual switch is turned on.
In the case of, the right cylinder 22 'is raised (S31), and the left cylinder 22 is raised (S32). Then, the process returns to step (S5) and returns to step S1. When the manual switch is OFF, It is determined whether the manual switch is ON (S3
3).

If the manual switch is ON in step S33, the right cylinder 22 'is raised (S34).
At the same time, the left cylinder 22 is lowered (S29), and thus is lowered to the left, and the process proceeds to return (S5) and returns to step S1. If the manual switch is OFF, it is determined whether the manual switch is ON. (S35). In step S35, when the manual switch is ON, the right cylinder 22 'is lowered (S36), and the left cylinder 22 is raised (S32). Returning to step S1, if the manual switch is OFF, the process proceeds to return (S5) and returns to step S1.

Therefore, the automatic switch of the aircraft horizontal main switch 62
When the manual switch is turned on by turning on, the left cylinder 22 or the right cylinder 22 'is lowered so that the tilt set angle and the tilt sensor value are equal, and the left and right cylinders 22, 22' are set when the tilt set angle and the tilt sensor value are equal. When both are lowered and the manual switch is turned off, the lowering of the left and right cylinders 22, 22 'is stopped.

Also, turn on the automatic switch of the aircraft horizontal main switch 62.
When the manual switch is turned on, the left cylinder 22 or the right cylinder 22 'is raised so that the tilt set angle and the tilt sensor value are equal, and when the tilt set angle and the tilt sensor value are equal, both the left and right cylinders 22 and 22' When the manual switch is turned off and the manual switch is turned off, the left and right cylinders 22, 22 'are stopped from rising.

Also, turn on the automatic switch of the aircraft horizontal main switch 62.
Then, when the manual switch is turned on, the left cylinder 22 is lowered, the right cylinder 22 'is raised and lowered left, and when the manual switch is turned off, the operation is stopped.

Also, turn on the automatic switch of the aircraft horizontal main switch 62.
Then, when the manual switch is turned on, the right cylinder 22 'is lowered, the left cylinder 22 is raised and lowered to the right, and when the manual switch is turned off, the operation is stopped.

Also, only the automatic switch of the aircraft horizontal main switch 62
When turned ON, the right cylinder 22 'moves up or down so that the tilt set angle and the tilt sensor value become equal. When the tilt set angle and the tilt sensor value become equal, the operation of the right cylinder 22' is stopped.

Also, a stroke sensor is used instead of the tilt sensor 67.
Using 65 and 66, turn off the automatic switch of the aircraft horizontal main switch 62 and turn on the parallel return push button switch 61
Then, the left cylinder 22 or the right cylinder 22 'rises so that the left and right stroke sensor values become equal, and when the left and right stroke sensor values become equal, the rise of the left cylinder 22 or the right cylinder 22' is stopped.

When only the manual switch is turned ON, both the left and right cylinders 22 and 22 'rise, and when the manual switch is turned OFF,
The lowering of the left and right cylinders 22, 22 'is stopped.

When only the manual switch is turned ON, the left and right cylinders
When the manual switch is turned off, the right and left cylinders 22, 22 'are stopped from rising.

When only the manual switch is turned ON, the left cylinder 22
Falls, the left cylinder 22 'rises and falls to the left, and when the manual switch is turned off, the left and right cylinders 22 and 2
The operation of 2 'is stopped.

When only the manual switch is turned ON, the right cylinder 2
2 ′ descends, the left cylinder 22 rises and falls to the right, and when the manual switch is turned off, the left and right cylinders 22 and 2
The operation of 2 'is stopped.

When the parallel-return push button switch 61 is pressed, the body frame 3 is automatically returned to the parallel position based on the horizontal position of the body frame 3 by the tilt sensor 67 or the parallel position of the body frame 3 by the stroke sensors 65 and 66. Therefore, the operator does not need to operate the operation lever 60 many times, and the parallel return can be easily and accurately performed without depending on the operator's feeling.

Further, when the parallel return push button switch 61 is pressed, the lower one of the left and right lifting hydraulic cylinders 22 and 22 'is operated so as to raise the body frame 3 by the lower lifting hydraulic cylinder 22 or 22'. The portion rises and does not hinder the operation, thus ensuring safety.

The push button switch 61 for parallel return is the operating lever.
Since it is provided at the upper part of the 60, the parallel return and the raising / lowering operation of the body frame 3 can be continuously performed, and the operability can be improved.

[Brief description of the drawings]

1 is a perspective view of an operation panel according to the present invention, FIG. 2 is a side view of a combine to which the present invention is applied, FIG. 3 is a system block diagram according to the present invention, and FIG. 4 is a flowchart according to the present invention. DESCRIPTION OF SYMBOLS 1 ... Work vehicle (combine), 2 ... Traveling device (left crawler traveling device), 2 '... Traveling device (right crawler traveling device), 3 ... Traveling body (body frame), 22 ... Hydraulic cylinder (left ascending and descending hydraulic cylinder) ), 22 '... hydraulic cylinder (hydraulic cylinder for raising and lowering right), 61 ... parallel command switch (push button switch for parallel return), 65 ... parallel detecting means (stroke sensor), 66 ... parallel detecting means (stroke sensor), 67 ... inclination detection means (inclination sensor), 69 ... parallel return control means.

Continuation of the front page (56) References JP-A-2-124030 (JP, A) JP-A-63-63346 (JP, U) JP-A-2-68204 (JP, U)

Claims (1)

(57) [Scope of request for utility model registration] 1. A work in which a traveling machine is supported by a pair of left and right traveling devices, and a left and right hydraulic cylinder is interposed between the traveling devices and the traveling device to control the traveling machine so that the traveling machine can be tilted left and right. In the vehicle, a parallel detection unit that detects a parallel position of the traveling body with respect to the traveling device; a parallel command switch that issues a command to make the traveling body parallel based on a selective operation; A parallel return control means for operating only one of the left and right hydraulic cylinders based on the command and instructing the parallel detection means to return the traveling body to a parallel state by the parallel detection means. Parallel return control device.