JP2781933B2 - Tilt control device for traveling vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling vehicle having a traveling body supported by a pair of left and right traveling devices, and is particularly suitable for use in a combine. The present invention relates to an automatic incline control device that performs dynamic control.

[0002]

2. Description of the Related Art In general, a tilt control of a combine is performed by an operator operating a manual operation lever to raise and lower the body with respect to the left and right traveling devices, and to raise and lower the aircraft in a state parallel to the traveling device, or to tilt the combine. Based on the detection sensor, control is performed to automatically maintain the aircraft in a horizontal state or an inclination angle set by a setting dial (automatic inclination control).

[0003] In the automatic tilt control device of the combine, there has been proposed a device in which the automatic tilt control is stopped only when the work machine clutch switch is turned off so that the automatic tilt control is operated only in a working state. Have been.

[0004]

Therefore, the automatic inclination control device for the combine prevents the automatic control from being operated carelessly when the vehicle is not working, such as running on a road, etc. When the rider operates the setting dial to set the inclination angle in accordance with the amount of paddy in the field and the combine, even if the automatic main switch is turned on, the pause mechanism of the automatic inclination control is operating. The aircraft does not tilt in response to the setting dial operation.
As a result, the automatic control functions for the first time after the work is started, and the machine tilts according to the setting dial. In this case, the tilt angle often differs from the tilt angle desired by the operator, and the setting dial is reset. In other words, the setting of the inclination angle is extremely troublesome.

Accordingly, the present invention provides a setting means (dial)
It is an object of the present invention to provide a tilt control device for a traveling vehicle which solves the above-mentioned problem by configuring the automatic control to operate even while the automatic tilt control is stopped while the set tilt angle is being changed.

[0006]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned circumstances. For example, referring to FIG. 1, FIG. 2 and FIG. Hydraulic cylinders (16), (16 ') supported by traveling devices (2), (2'), and between these traveling devices and the traveling body.
In a traveling vehicle (1) that is controlled to lift and lower the traveling body, a tilt sensor (22) for detecting the lateral inclination angle of the traveling body, and setting means for presetting the lateral inclination angle of the traveling body (19) an automatic switch (20) for switching between an automatic state and a non-automatic state; and, based on signals from the tilt sensor and the setting means, to match the traveling body with the set value set by the setting means. Drive control means (46) for driving and controlling the hydraulic cylinder
And the working machine mounted on the traveling body (3) is in a non-working state.
And when in the state, places the switch for switching the traveling direction of the traveling device (2, 2 ') (29) is in a position other than forward
In either case, the drive control means (46)
A pause means (47) for suspending the operation of the automatic switch (20), and the setting means (1)
If there is a change in the signal from (9), the pause means (4)
Setting control means (49) for forcibly operating the drive control means (46) regardless of the operation of (7).

[0007]

According to the above configuration, when the automatic switch (20) is in the ON state, the traveling vehicle (1) is driven by the inclination sensor (2).
2) and left and right hydraulic cylinders (16), (16) by drive control means (46) based on signals from setting means (19).
') Expands and contracts appropriately, and the traveling body (3) is set in advance by the setting means (1).
The vehicle travels while being automatically controlled to maintain the tilt angle set in 9). At this time, the clutch is turned off by the clutch disengagement operation of the work machine clutch lever (37).
Clutch switch (39) and main shift lever (27)
Pause means by switching operation or the like to the non-forward due to the (4
When 7) is operated, the operation of the automatic tilt control by the drive control means (46) is stopped, and the traveling body (3) is held at the tilt position before the stop.

Further, the operator, for example, pre-work start, adjusting and changing the setting means (19) in accordance with the body conditions of the field and paddy amount, etc., if the automatic main switch (20) is in the on state, resting means (47) is in operation
Even if the drive control means (46) is forcibly activated by the setting control means (49) , the setting means (19)
The right and left inclination angles of the traveling body (3) are immediately changed in accordance with the setting change.

[0009]

As described above, according to the present invention,
While the automatic inclination control is not inadvertently activated during traveling on a road or the like by the pause means (47), when the set inclination angle is changed or adjusted by the setting means (19), the pause means (47) Setting control means (4)
9) forcibly activates the drive control means (46).
Then, since the inclination angle of the traveling body (3) is immediately changed according to the set inclination angle, at the start of work or the like, the operator rides on the traveling body (3) and sets the setting means (19).
By adjusting the inclination, the inclination angle of the traveling body can be immediately felt, and the inclination can be set easily and accurately.

The reference numerals in parentheses described above are for comparison with the drawings, but do not limit the configuration.

[0011]

Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 3, the combine 1 has a traveling body 3 supported by a pair of right and left crawler traveling devices 2 and 2 '. The traveling body 3 is mounted on a frame 5. In addition to being provided with an automatic threshing machine, a paddy tank, a driver's seat, and the like, a pre-processing unit 6 is supported in the front so as to be vertically movable. The crawler traveling device 2 has a driving sprocket 7, a driven sprocket 9, a number of rolling wheels 10,... And a crawler 11 wound around these. The driving sprocket 7 is a transmission mounted on the traveling frame 5. The driven sprocket 9 and a number of rolling wheels 10 are supported by a case, and are slidably or slidably supported by a track frame 12. Further, a pair of front and rear swing arms 13 and 15 are supported on the traveling frame 5. One end of each of the swing arms 13 and 15 is connected to the track frame 12, and the other end is connected to a connecting rod 14. Linked to each other. And the rear swing arm 15
Is extended, a piston end of a hydraulic cylinder 16 is connected to the extension, and the other end of the hydraulic cylinder 16 is connected to the traveling frame 5. In the above description, the left crawler traveling device 2 is described. However, the right crawler traveling device 2 'is similarly configured.

As shown in FIG. 2, the driver's seat of the traveling machine body 3 has an operation lever 17, which can be tilted left and right and back and forth, a tilt setting dial 19, and a tilt automatic main switch 20 with a built-in lamp 20a. Are arranged. The operating lever 17 lowers the fuselage 3 by the forward tilting operation, raises the fuselage by the backward tilting operation, lowers the fuselage rightward by the rightward tilting operation, and tilts the leftward downward by the leftward tilting operation. Operate. Further, a work machine (reaper) clutch lever, a side clutch lever composed of one lever, a main speed change lever, a pre-processing unit elevating lever, a cutting height setting dial, and the like are provided in the driver's seat. By operating the work machine clutch lever to engage the clutch, the mowing unit and the threshing device are operated, and by operating the clutch lever left and right, the corresponding side clutch is disengaged, and further the side brake is operated. Steering the traveling body 3 and operating the main transmission lever 27 in the forward and reverse directions to control the continuously variable transmission and the forward / reverse switching clutch to shift the traveling device in the forward or reverse direction, Further, when the pre-processing unit raising / lowering lever is operated in the ascending direction, the pre-processing unit 6 is raised. Down the preprocessing unit 6 to set the lowered position at. In addition, a clutch pedal is provided below the driver's seat.
The left and right dividers provided at the front end of the pre-processing unit 6 are provided with a left (for side-cutting) automatic direction control device 23 and a right (for line cutting) automatic direction control device 25, respectively. Each of these automatic direction control devices issues a left / right circling command to perform inching operation of the side clutch.

FIG. 1 is a view showing the connection of the above-mentioned operating means and operating means, various sensors and the like. The control unit U receives signals from the automatic tilt switch 20 described above, four switches operated by the operating lever 17, and a potentiometer 19a operated by the tilt setting dial 19 that constitutes setting means. . The control unit U includes stroke sensors 21 and 21 for detecting the stroke positions of the left and right hydraulic cylinders 16 and 16 ′.
Signals are input from the potentiometers 21a and 21a 'of 1' and the potentiometer 22a of the inclination sensor 22 for detecting the left and right inclination of the traveling machine body 3. The control unit U further includes a lever switch 29 for detecting that the main shift lever 27 is at the forward position, a switch 30 operated by the clutch pedal 30, and a work implement clutch lever 37.
The signal from the switch 39 which is turned on by the operation of engaging the clutch and the potentiometer 32a of the cutting height sensor 32 which detects the height of the pre-processing unit 6 is input. A command signal and a signal from the left / right rotation command switch 26 operated by the side clutch lever are input. On the other hand, the control unit U
Output to the ramp 20a of the automatic switch 20, the solenoid valves 33 and 35 for operating the left and right hydraulic cylinders 16 and 16 'for tilting the body, and operating the hydraulic cylinder 37 for raising and lowering the pre-processing unit 6. To the left and right solenoid valves 41 and 42 for operating the left and right side clutches.

In the control unit U, an inclination sensor 22 is provided.
Setting dial 19 based on a signal from
Drive control means 46 for controlling the drive of the left and right solenoids 35 and 36 so as to match the set angle, the lever switch 39 of the work implement clutch lever 37, the lever switch 29 of the main speed change lever 27, and the cutting height sensor 32, and in some cases. A pause means 47 for suspending the operation of the drive control means 46 based on a signal from the pedal clutch switch 31;
Even during the operation of the pause means 47, the setting dial 19
And a setting control means 49 for activating the drive control means 46 during the change of the adjustment.

Next, the operation of this embodiment will be described with reference to FIGS.

As shown in FIG. 4, the inclination control includes a manual operation S1 and an automatic control S2. In the automatic control S2, there is no manual operation, that is, no tilt operation by the operation lever 17 (F1).
And the automatic main switch 20 is on (F
2) The work machine clutch switch 39 is on, ie, the mowing clutch is in operation (F3), the main transmission lever switch 29 is on, ie, the main transmission lever 27 is in the forward position (F4), and the pedal clutch switch 31 is on. When the main clutch is in the on state, that is, when the clutch pedal 30 is not depressed (F5), the cutting height sensor 32 is below a predetermined value, that is, the pre-processing unit 6 is in the down state (F6), and the side clutch lever lever switch 26 It operates only when there is no signal from the automatic direction control devices 23 and 25 for a predetermined time. That is, even when the automatic main switch 20 is on and not in the manual operation state, the work implement clutch lever 37 is in the disengaged position and the work implement is in the non-working state.
When in the state, if the main shift lever 27 is in other words a stop position and a reverse position other than the forward position, if when the main clutch is off and the pre-processing section 6 is in the raised state, the automatic control is not activated.

Then, the automatic control is stopped (F1
(F7), the dial flag is set (F7) when the body inclination setting dial 19 is moving by the operation of the operator, that is, when the electric signal from the setting dial potentiometer 19a is changing (F7).
8) The automatic control S2 is activated (F9).

Therefore, the right and left inclination of the traveling machine (3) changes depending on the softness of the field and the amount of paddy in the paddy tank. At the start of the combine operation, the combine (1) is put into the field and the automatic main switch 20 is turned on. Even if it is engaged, the automatic tilt control does not operate due to the work machine clutch being off and the main shift lever being stopped, but if the operator adjusts the setting dial 19 according to the above-mentioned field conditions and machine conditions, the automatic dial control is automatically performed during the adjustment. When the control is activated, the setting dial 19
The traveling body 3 is inclined left and right in accordance with the adjustment of. Thus, the operator can easily and accurately set the inclination angle before starting mowing while riding on the traveling machine body 3, and can perform an accurate work from the start of mowing work.

Further, even when the above-mentioned stop matters are not satisfied, (F1
-F6), when the traveling body 3 changes direction by manual operation using the side clutch lever or inching operation by the automatic direction control devices 23 and 25 (F10), the hunting prevention timer is activated (F11), and the timer becomes 0. Until (F12), the automatic control is in a pause state.

When the automatic main switch 20 is switched from on to off (F13), a return flag is set based on a rising (down) signal based on the switching (F1).
4) The traveling body 3 returns to the parallel state at the predetermined position (F15).

In the manual operation S1, for example, when the operation lever 17 is tilted to the left, first, the right hydraulic cylinder is left as it is, that is, the right hydraulic cylinder is contracted, the left hydraulic cylinder is contracted, and the left hydraulic cylinder is lowered. When the left hydraulic cylinder reaches the lower limit, the right hydraulic cylinder is controlled to extend and rise to the right, but a detailed flow is omitted.

Therefore, even if the combine 1 is in the automatic tilt control state in which the automatic main switch 20 is on,
When the main shift lever 27 is switched to the reverse or stop position on a headland or the like, the automatic tilt control is stopped, and the body 3 is maintained at the tilt of the previous state. Similarly, when the pre-processing unit 6 is raised to a predetermined position or higher by operating the cutting height lever on a headland or the like, the automatic tilt control is stopped, and the machine body 3 is held at the previous tilt.

As shown in FIG. 5, the voltage detection signals of the setting dial 19 and the inclination sensor 22 are converted and replaced by the inclination angle of the traveling body 3 (S3), and the difference between the set angle and the inclination angle is acquired as shown in FIG. Is calculated as a deviation value (S4). The tilt angle based on the tilt sensor 22 is set by the setting dial 19.
(S5), and the body state flag is set to the right or left (S6, S7) or reset (S5).
9).

Next, automatic control will be described with reference to FIGS.
This will be described with reference to FIGS. The pause timer S10 is
As shown in FIG. 6, for example, it is set to be about 0 every time the combine advances by 50 cm. When the pause timer becomes 0, normal automatic tilt control based on the deviation value is performed. Even if the pause timer does not become 0, if the deviation is large, the pause timer is cleared and the inclination control is performed immediately (S11, S12). When the deviation reaches a certain level (S13), the automatic start flag is set (S14), the inclination flag is set to the left or right (S15, S16), and the following target values are set (S15). S17).

As shown in FIG. 9, the target angle is first converted and replaced by the above-mentioned deviation angle into the amount of expansion and contraction of the hydraulic cylinder, as shown in FIG.
The value is distributed to the left and right, and more specifically, the value is set to 1/2 to obtain a deviation '(S18). When the inclination flag is rising to the right, the above-mentioned deviation 'is subtracted from the current value of the right hydraulic cylinder 16', that is, the value of the right stroke sensor 21 ', to obtain the right target value, and the current value of the left hydraulic cylinder 16, ie, the left The deviation 'is added to the value of the stroke sensor 21 to obtain a left target value (S19). Similarly, when the inclination flag is rising to the left, the deviation 'is added to the right stroke sensor value to obtain the right target value, and the deviation' is subtracted from the left stroke sensor value to obtain the left target value (S20).

As shown in FIG. 7, when the right stop flag S21 is reset, the right solenoid valve 35 is inching-operated so that the right stroke sensor value goes to the right target value, and the right hydraulic cylinder 16 'is turned on. The right solenoid valve 35 is raised or lowered (S22, S23, S24, S25), and the operation of the right solenoid valve 35 is stopped in a state where the right stroke sensor value matches the right target value (S26). Similarly,
If the left stop flag S27 is reset, the left solenoid valve 33 is operated to inching operation so that the left stroke sensor value is directed to the left target value, and the left hydraulic cylinder 16 is raised or lowered (S28, S29, S30, S31). Then, the operation of the left solenoid valve 33 is stopped in a state where the left stroke sensor value matches the left target value (S3).
2). At this time, when the right stroke sensor 21 'or the left stroke sensor 21 reaches the upper limit or the lower limit (S32, S32).
33, S34, S35), the right or left stop flag is set (S26, S32), and the hydraulic cylinders 16, 16 'stop.

As shown in FIG. 8, when both the left and right stop flags are set (S36), the pause timer is set to start a new count, and the automatic start flag and the left / right stop flag are set. , The tilt flag and the dial flag are reset (S37).

Although the above embodiment has been described with respect to a combine, it is needless to say that the present invention is not limited to this and can be similarly applied to other traveling vehicles such as a construction machine such as a bulldozer.

[Brief description of the drawings]

FIG. 1 is a control block diagram showing an inclination control device according to the present invention.

FIG. 2 is a perspective view showing an operation unit of the tilt control device according to the present invention.

FIG. 3 is a side view showing a combine to which the present invention can be applied.

FIG. 4 is a flowchart showing tilt control according to the present invention.

FIG. 5 is a flowchart showing the data capture.

FIG. 6 is a flowchart showing the automatic tilt control.

FIG. 7 is a flowchart following FIG. 6;

FIG. 8 is a flowchart following FIG. 7;

FIG. 9 is a flowchart showing the setting of the target value.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling vehicle (combine) 2, 2 '(crawler) traveling device 3 Traveling body 16, 16' Hydraulic cylinder 17 Operating lever 19 Setting means (dial) 20 Automatic main switch 21, 21 'Stroke sensor 22 Tilt sensor 27 Traveling operating means (Main shift lever) 29 Forward lever switch 30 Clutch (pedal) 31 Pedal clutch switch 32 Cutting height sensor 33, 35 Left and right solenoid valves for tilt control 37 Work machine clutch lever 39 Work machine clutch lever switch 46 Drive control means 47 Resting means 49 Setting control means

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Fumihiko Nagata 667 Iida-machi, Higashi-Izumo-cho, Yatsuka-gun, Shimane Pref. 1 Inside Mitsubishi Agricultural Machinery Co., Ltd. 667 No. 1 Inside Mitsubishi Agricultural Machinery Co., Ltd. (56) References JP-A-63-202317 (JP, A) JP-A-61-85208 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB Name) B60G 17/01 A01D 67/00 A01D 69/00 302

Claims (1)

(57) [Claims] 1. A traveling vehicle in which a traveling body is supported by a pair of traveling devices on the left and right sides, and a hydraulic cylinder is interposed between the traveling device and the traveling body to control the elevation of the traveling body. An inclination sensor for detecting a left-right inclination angle of the traveling body; a setting unit for setting a left-right inclination angle of the traveling body; an automatic switch for switching between an automatic state and a non-automatic state; Drive control means for driving and controlling the hydraulic cylinder so that the traveling machine body matches the set value set by the setting means based on signals from the sensor and the setting means; and a work machine mounted on the traveling machine body Is not working
And if, and if the switch for switching the traveling direction of the traveling device is in a position other than forward, in the case of either a pause means for pausing the operation of said drive control means, there the automatic switch to the automatic state And a setting control means for forcibly activating the drive control means irrespective of whether the pause means is operating, when the signal from the setting means changes, an inclination control apparatus for a traveling vehicle comprising: