JP2977733B2 - Work vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a traveling body provided with a pair of left and right traveling devices capable of switching between forward traveling and reverse traveling states. Lifting and lowering drive means for separately performing an ascending and descending operation, an inclination angle detecting means for detecting a right and left inclination angle of the traveling body with respect to a horizontal reference plane, and a left and right inclination angle of the traveling body based on information of the inclination angle detecting means. Control means for operating the lifting drive means so as to maintain the corner at an angle, and the control means controls the lifting drive means so as to make the ground contact portions of the pair of left and right traveling devices approach the traveling body side. It is freely switchable between a lower-limit reference mode for operating and an upper-limit reference mode for operating the lifting / lowering drive means so as to separate the grounding portions of the pair of left and right traveling devices from the traveling body. On a work vehicle that is configured.

[0002]

2. Description of the Related Art In a work vehicle of this type, for example, a combine for cutting a culm, a cutting device, which is a working device for ground work, is provided at the front side of the fuselage, and the vehicle travels forward (normally, along each work process). At the time of work traveling in which the reaping device performs the reaping operation, while switching to the lower limit reference mode and setting the body height low, the left and right inclination angles of the traveling body are set based on the information of the inclination angle detection means. (E.g., horizontal state), while operating the lifting / lowering drive means such as a hydraulic cylinder, and in a state where the running surface of a wetland or the like is soft and the ground contact portion of the running device easily sinks into the ground, the lower limit reference mode is used. When the work vehicle is turned, the lower part of the traveling body is held in mud or dirt to avoid the inconvenience that the running performance is deteriorated. Unishi which was (e.g., JP-5-
No. 330461).

[0003]

However, according to the above-mentioned prior art, for example, even when the running surface is a dry field and the sink into the ground is small, the direction is temporarily changed during the work. In the non-working state due to, for example, the upper-limit reference mode is always switched, so the useless mode switching from the lower-limit reference mode to the upper-limit reference mode and from the upper-limit reference mode to the lower-limit reference mode when starting the work again. There is an inconvenience that is made. On the other hand, when the running surface such as a wet field is soft, the weight of the work equipment for ground work on the front side of the fuselage is particularly lower than when the running surface such as a dry field is hard. As a result, the amount of downward movement on the front side of the fuselage becomes large, and a transmission unit for transmitting power to the traveling device on the front side of the fuselage comes into contact with the running surface to dug the running surface, thereby deteriorating the running performance. Need to be avoided.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned circumstances, and has an object to solve the problem that the ground surface on the front side of the fuselage during forward running for work when the running surface is in a soft surface such as a wetland. With the work equipment as close as possible to the ground side while ensuring good ground work performance, when traveling backwards, the front side of the traveling aircraft tilts downward due to the weight of the ground work equipment at the front part of the aircraft. In order to avoid contact with the running surface, the body is separated from the ground side to solve the above-mentioned drawbacks of the prior art.

[0005]

According to a first feature of the work vehicle according to the present invention, a work device for ground work is provided on a front side of the traveling body, and a traveling surface on which the travel device travels is provided. Running surface state input means for inputting that the vehicle is in a soft surface state is provided, and the control unit is configured to, based on input information of the running surface state input device, perform forward running when the running surface is in a soft surface state. It is configured to be switched to the lower limit reference mode in the state, and to the upper limit reference mode in the reverse running state.

A second characteristic configuration is that, in the first characteristic configuration, as the ground contact portions of the pair of right and left traveling devices move from a position closer to the traveling body to a position farther away from the traveling machine body, The point is that the weight balance of the traveling body with respect to the pair of traveling devices is configured to move toward the rear side of the vehicle body.

[0007]

According to the first characteristic configuration of the present invention, when the running surface is input by the running surface state input means when the running surface is in the soft surface state, the vehicle travels forward. In the state, the switching mode is switched to the lower-limit reference mode, and the ground contact portions of the left and right traveling devices approach the traveling aircraft side, and the working device provided on the front side of the traveling aircraft is maintained in a state as close as possible to the traveling surface. In the reverse traveling state, the mode is switched to the upper limit reference mode, and the ground contact portions of the left and right traveling devices are separated from the traveling aircraft, and the front side of the traveling aircraft is greatly inclined downward due to the weight of the work equipment on the front side of the aircraft. No contact with the running surface.

Further, according to the second characteristic configuration, in the first characteristic configuration, the mode is switched to the upper limit reference mode in the reverse traveling state, and the ground contact portions of the pair of left and right traveling devices are shifted from the approach side position with respect to the traveling body. Along with moving to the separated side position, the weight balance of the traveling aircraft with respect to the pair of left and right traveling devices moves to the rear side of the vehicle body, and the front side of the traveling aircraft lowers due to the weight of the working device on the front portion of the aircraft. The amount of leaning is reduced, and a larger gap between the front side of the inclined traveling body and the traveling surface is ensured.

[0009]

According to the first characteristic configuration of the present invention, when the running surface is in a weak surface such as a wetland, the ground working device on the front side of the fuselage is placed on the ground side when the vehicle is traveling forward for work. A work vehicle that secures good running performance while ensuring good ground work performance in the state of approaching as much as possible, and avoiding contact with the running surface even when the front side of the running body tilts downward during reverse running. Obtainable.

Further, according to the second characteristic configuration, it is possible to more reliably prevent the front side of the traveling body from coming into contact with the traveling surface when the vehicle travels in the reverse direction. can get.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings when applied to a combine as a working vehicle. As shown in FIG. 1, the apparatus includes a raising device 1, a cutting blade 2 for cutting the grain culm raised by the raising device 1, a transport device 4 for transporting the harvested grain culm to a rear threshing device 3, and the like. The cutting pre-processing device 5 as a working device for ground work is moved up and down by a lifting cylinder 8 around a horizontal support axis X on the front side of a traveling machine body 7 equipped with a crawler traveling device 6 as a pair of left and right traveling devices. It is swingably mounted to form a combine.

A structure for mounting the pair of right and left crawler traveling devices 6 to the traveling body 7 will be described. As shown in FIGS. 2 and 3, a horizontal frame 10 is connected to a lower part of a main frame 9 in a front-rear posture constituting the traveling body 7, and the left and right track frames 11 are connected and fixed by the horizontal frame 10. A drive sprocket 12 and a tension sprocket 13 are attached and fixed to the front and rear ends of the track frame 11, respectively. The track frame 11 includes a pair of front and rear movable frames 15 pivotally supporting a plurality of idler wheels 14.
A and 15B are mounted so as to be able to move up and down relatively. A large-diameter idler wheel 16 is supported on the track frame 11 at an intermediate position of the idler wheel group 14 so as to be vertically swingable.

The lower ends of front and rear bell cranks 17A and 17B pivotally supported on the track frame 11 are attached to the front and rear movable frames 15A and 15B, respectively, and the front and rear bell cranks 17A and 17B are connected thereto. Connected by a rod 18 and a rear bell crank 17
At the upper end of B, a hydraulic rolling lift cylinder 19 as a lifting drive means for lifting and lowering the ground contact portion of the crawler travel device 6 with respect to the traveling machine body 7 is connected, so that the front and rear movable frames 15A, 15B can be moved. Are moved up and down by the same amount in the same direction, so that the ground contact portions of the left and right crawler traveling devices 6 can be moved up and down individually with respect to the traveling machine body 7. When the lower ends of the front and rear bell cranks 17A, 17B swing downward, the front and rear movable frames 15A,
15B moves forward with respect to the track frame 11, the pair of left and right crawlers move as the ground contact portion of the pair of left and right crawler traveling devices 6 moves from a position closer to the traveling body 7 to a position farther away. The weight balance of the traveling body 7 with respect to the traveling device 6 moves to the rear side of the vehicle body.

As shown in FIG. 2, limit switches 20 and 22 are provided at both swinging end positions of the left and right rear bell cranks 17B, and the rear bell crank 17B and, consequently, the rolling elevating cylinder 19 reach the movable stroke end. Is detected. That is, the upper limit switch 20 is a switch that detects a state where the left and right crawler traveling devices 6 are located farthest from the traveling machine body 7, and the lower limit switch 22 is a switch that detects a state where the left and right crawler traveling devices 6 are located closest. And

The power transmission system of the combine will be described. As shown in FIG. 4, the driving force of the engine E is transmitted to the continuously variable vehicle speed transmission 34 via the belt transmission,
The output after the speed change of the vehicle speed transmission device 34 is transmitted via the transmission case 35 to rotate the drive sprocket 12 of the crawler traveling device 6. The output of the vehicle speed change device 34 after shifting is transmitted to a transmission case 35.
And transmitted to the pre-cutting device 5 via the one-way clutch 36. The crawler traveling device 6 is configured to be switchable between forward traveling and reverse traveling by a forward / reverse switching clutch (not shown) inside the transmission case 35, and a forward / reverse detection switch 33 for detecting the forward / reverse switching state of the switching clutch. Is installed. The driving force of the engine E is transmitted to the threshing device 3 via a threshing clutch 37, and the threshing clutch 37 is provided with a threshing switch 32 for detecting the on / off state of the threshing clutch.

As shown in FIG. 5, a control device 21 using a microcomputer is provided.
A volume type lifting / lowering detection sensor 24 which is provided at a position of the horizontal support shaft X of the cutting pre-processing device 5 to the traveling body 7 and detects an amount of elevation of the cutting pre-processing device 5 with respect to the traveling body 7; 7 is a gravity type tilt sensor as a tilt angle detecting means for detecting a horizontal tilt angle with respect to a horizontal reference plane 7
3. Detection information of the limit switches 20 and 22, the forward / reverse detection switch 33, and the threshing switch 32 is input.

As shown in FIG. 6, a tilt angle setting device 28 for setting a horizontal tilt angle with respect to a horizontal reference plane of the traveling body 7 on a control panel of a cockpit, and a horizontal for selecting on / off of a horizontal control operation. An auto switch 26, an upper / lower limit mode changeover switch 25 for switching the operation mode of horizontal control between an upper limit reference mode and a lower limit reference mode, and a wetland switch which is turned on when the traveling surface on which the crawler traveling device 6 travels is in a wetland state. 27 is provided, and information of each switch is input to the control device 21. Here, the wetland switch 27 corresponds to running surface state input means for inputting that the running surface is in a soft surface state. Further, there is provided a cutting height setting device 40 for setting the height of the pre-cutting device 5 relative to the traveling machine body 7 relative to the ground, that is, the cutting height for the grain culm.

A horizontal manual switch 31 for manually performing a horizontal operation when the operation of the horizontal control is off is provided, and operation information from the horizontal manual switch 31 is input to the control device 21. . The manual operation information includes information on an upper right operation for raising the right of the traveling body 7, an upper left operation for raising the left, a lowering operation for lowering the traveling body 7 to the lowermost position, and an raising operation for raising the traveling body 7 to the uppermost position.

On the other hand, from the control device 21, a control valve 2 for operating the rolling elevating cylinder 19 is provided.
9 and a drive signal for a control valve 30 for operating the elevating cylinder 8.

The control device 21 is used to maintain the right and left inclination angles of the traveling body 7 at a set inclination angle (set angle of the inclination setting device 28) based on the information of the gravity type inclination sensor 23. The rolling lifting cylinder 1
9 is configured, and
The control means 101 operates the rolling up / down cylinder 19 so that the ground contact portions of the pair of left and right crawler traveling devices 6 approach the traveling body 7 side, and the lower limit reference mode, respectively. The upper limit reference mode in which the rolling lift cylinder 19 is operated so as to separate the contact portion from the traveling machine body 7 is configured to be freely switchable.

That is, the control means 101 operates the rolling up / down cylinder 19 in a direction to eliminate the difference (that is, declination) between the information of the gravity type inclination sensor 23 and the set value of the inclination setting device 28, so that the traveling body is controlled. 7 is maintained at the set inclination angle, but in the upper limit reference mode, the contact portion of one crawler traveling device 6 is moved to the lowest position, and the contact portion of the other crawler traveling device 6 is moved to the lowest position. The rolling elevator cylinder 19 is operated to move in the direction to eliminate the declination, and in the lower limit reference mode, the contact portion of one crawler traveling device 6 is moved to the highest position, and the other crawler traveling device is moved. The rolling lift cylinder 19 is operated to move the ground contact portion 6 in a direction to eliminate the declination. .

Therefore, for example, in the upper limit reference mode, when the traveling machine body 7 is tilted right to set the declination to "0", the left crawler traveling device 6 is first operated toward the upper limit position, and If the declination does not become "0" even after the limit switch 20 is actuated, the right crawler traveling device 6 is operated toward the lower limit position to adjust the left-right inclination angle to the set inclination angle. When the traveling body 7 is tilted to the left, an operation is performed in which the left-right relationship is reversed with respect to the above case. Further, in the lower limit reference mode, an operation may be performed in which the upper and lower relations are reversed with respect to the case of the upper limit reference mode.

When the running surface is in the wetland state, that is, in the soft surface state, based on the input information of the wetland switch 27, the control means 101 switches to the lower limit reference mode in the forward running state, and In the reverse running state, the mode is switched to the upper limit reference mode.

Next, the elevation control of the crawler traveling device 6 will be described with reference to the flowcharts of FIGS. First, in the main flow (FIG. 7), the states of the horizontal auto switch 26 and the threshing switch 32 are checked, and when either of the two switches is off, the horizontal manual switch 31 is turned off.
The user performs a manual posture changing operation based on the input information. on the other hand,
When both the switches are on, the state of the wetland switch 27 is further checked. When the wetland switch 27 is on, the horizontal control is performed in the upper limit reference mode in the reverse running state, and in the lower limit reference mode in the forward running state. When the wetland switch 27 is off, horizontal control is performed in the upper-limit reference mode or the lower-limit reference mode selected by the upper / lower-limit mode changeover switch 25.

In the horizontal control (FIG. 8) in the upper limit reference mode, the input of the set angle by the tilt angle setting device 28 and the detection of the right and left tilt angle by the gravity type tilt sensor 23 are performed.
The difference between the set angle and the detected angle, that is, the declination (assuming that the declination can be made zero by tilting the traveling body 7 to the right for + and tilting the traveling body 7 to the left for-) calculate. Then, the magnitude of the argument and the signs (+), (−)
It is determined whether the traveling body 7 is to be tilted to the right or to the left, and the respective flows a, b, and f are executed.

In the horizontal control in the lower limit reference mode (FIG. 9), similarly to the horizontal control in the upper limit reference mode, the input of the set angle by the tilt angle setter 28 and the detection of the right and left tilt angles by the gravity type tilt sensor 23 are performed. Calculate the declination, determine whether the traveling body 7 is to be tilted to the right or left based on the magnitude of the declination and the signs (+), (−), and execute the respective flows c, d, and e. .

In the flow a (FIG. 10) in which the declination is (+) in the upper limit reference mode, the traveling body 7 must be tilted to the right. Therefore, if the left upper limit switch 20 is not turned on, the left rolling is performed. The lifting cylinder 19 is extended. Then, when the left upper limit switch 20 is turned on (that is, the left traveling device 6 is set at the position most lowered from the traveling machine body 7), the right traveling device 6 is moved up and down to the set angle. In this case, when the right upper limit switch 20 is on, and when both the right upper limit switch 20 and the right lower limit switch 22 are off, the right rolling elevator cylinder 19 is contracted. If the right lower limit switch 22 is turned on before the declination becomes zero by the operation of the right rolling elevator cylinder 19, the operation of the right rolling elevator cylinder 19 is stopped.

In the flow b (FIG. 11) in the case where the declination is (-) in the upper limit reference mode, it is necessary to incline the traveling machine body 7 to the left, and the flow a and the left and right are performed in reverse.

In the flow c (FIG. 12) in the case where the declination is (+) in the lower-limit reference mode, it is necessary to incline the traveling body 7 to the right, so the lower-right limit switch 22 is set to lower the vehicle height. If it is not turned on, the right rolling lift cylinder 19 is contracted. Then, if the right lower limit switch 22 is turned on (that is, the right traveling device 6
Is set at the position where it is most elevated with respect to the traveling machine body 7), and the left traveling device 6 is moved up and down to the set angle.
In this case, when the left lower limit switch 22 is on, and when both the left lower limit switch 22 and the left upper limit switch 20 are off, the lifting cylinder 19 for left rolling is contracted. If the left upper limit switch 20 is turned on before the deflection angle becomes zero by the operation of the left rolling lift cylinder 19, the operation of the left rolling lift cylinder 19 is stopped.

In the flow d (FIG. 13) in the case where the declination is (-) in the lower limit reference mode, it is necessary to incline the traveling machine body 7 to the left, and the flow c and the left and right are performed in reverse.

In the flow f (right side in FIG. 14) in which the magnitude of the declination is zero (same as the set angle) in the upper limit reference mode, the right and left rolling elevating cylinders 19, 19 are extended to operate either the left or right. Upper limit switches 20, 2
When 0 is turned on, the operation of the left and right lifting cylinders 19, 19 is stopped, and the vehicle height of the traveling machine body 7 is set high. Also, the flow e when the magnitude of the declination is zero in the lower limit reference mode
In the case of (left side in FIG. 14), when the left and right lower limit switches 22 and 22 are turned on by contracting the left and right rolling lift cylinders 19 and 19, the operation of the left and right lift cylinders 19 and 19 is stopped. Then, the vehicle height of the traveling body 7 is set low.

[Alternative Embodiment] In the above embodiment, the pair of left and right traveling devices 6 are constituted by crawler traveling devices. However, the present invention is not limited to this. For example, wheel-type traveling devices may be used.

In the above embodiment, the lifting drive means 19 is constituted by a hydraulic cylinder. However, the invention is not limited to this. For example, an electric motor with a speed reduction mechanism may be used.

In the above embodiment, the tilt angle detecting means 23 is constituted by a gravity type tilt sensor. However, the present invention is not limited to this, and various other tilt angle detecting sensors can be used.

In the above embodiment, the work vehicle is configured as a combine, and the work device 5 for ground work on the front side of the machine body.
Is shown in the pre-cutting device 5 for cutting the culm, but the working vehicle and the working device are not limited to those described above. As the working vehicle, for example, other agricultural work vehicles other than combine harvesters And construction equipment such as bulltozers,
Also, the working device can be configured in various ways according to the purpose of the working vehicle, such as a device for leveling.

In the above embodiment, the running surface state input means is
Although the wet-field switch 27 is used for inputting the wet-field state, the present invention is not limited to this. For example, a wet-field switch may be used for inputting that the running surface is on a sandy ground and is in a soft surface state.

In the above embodiment, the weight balance of the traveling machine body 7 with respect to the pair of left and right traveling devices 6 is changed as the ground contact portions of the pair of left and right traveling devices 6 move from the position closer to the traveling machine body 7 to the position apart from the traveling device 6. A front and rear bell crank 17 which is pivotally supported on the traveling body 7 side so as to be able to swing up and down and has a grounding portion of the traveling device 6 attached thereto is configured to be moved rearward of the vehicle body.
Although the movement to the front of the fuselage due to the swinging movement of A and 17B is used, the present invention is not limited to the configuration using such a crank mechanism, and various mechanisms can be used.

Incidentally, reference numerals are written in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configuration of the attached drawings by the entry.

[Brief description of the drawings]

FIG. 1 is a side view showing the overall configuration of a work vehicle.

FIG. 2 is a side view showing the lifting drive means of the traveling device.

FIG. 3 is a vertical cross-sectional rear view showing a lifting drive means of the traveling device

FIG. 4 is a power system diagram of a working vehicle.

FIG. 5 is a block diagram showing a control configuration.

FIG. 6 is a front view showing an operation panel.

FIG. 7 is a flowchart showing a control operation.

FIG. 8 is a flowchart showing a control operation.

FIG. 9 is a flowchart showing a control operation.

FIG. 10 is a flowchart showing a control operation.

FIG. 11 is a flowchart showing a control operation.

FIG. 12 is a flowchart showing a control operation.

FIG. 13 is a flowchart showing a control operation.

FIG. 14 is a flowchart showing a control operation.

[Explanation of symbols]

 Reference Signs List 6 traveling apparatus 7 traveling body 19 elevating drive means 23 inclination angle detecting means 101 control means 5 work equipment 27 traveling plane state input means

Claims (2)

(57) [Claims] A traveling body (7) is provided with a pair of left and right traveling devices (6) that can be switched to a forward traveling state or a reverse traveling state, and a grounding portion of the pair of left and right traveling devices (6) is connected to the traveling body ( 7) lifting / lowering driving means (19) for individually raising / lowering operation; inclination angle detecting means (23) for detecting a left / right inclination angle with respect to a horizontal reference plane of the traveling machine body (7); Control means (10) for operating said lifting drive means (19) based on the information of (23) so as to maintain the left and right inclination angles of said traveling body (7) at a set inclination angle.
1) is provided, and the control means (101) operates the lifting drive means (19) such that the ground contact portions of the pair of right and left traveling devices (6) approach the traveling body (7). A lower limit reference mode in which the vertical drive unit (19) is operated so as to separate the ground contact portions of the pair of left and right traveling devices (6) from the traveling body (7). A working device (5) for ground work is provided on a front side of the traveling body (7), and a traveling surface on which the traveling device (6) travels is in a soft surface state. A running surface state input means (27) for inputting a certain state is provided, and the control means (101) sets the running surface in a soft surface state based on input information of the running surface state input means (27). In the forward running state, A work vehicle configured to be switched to a lower-limit reference mode and to be switched to the upper-limit reference mode in a reverse running state. 2. As the grounding portion of the pair of left and right traveling devices (6) moves from a position closer to the traveling body (7) to a position farther away from the traveling body (7), the pair of traveling devices (6) with respect to the left and right traveling devices (6). The work vehicle according to claim 1, wherein a weight balance of the traveling body (7) is configured to move toward a rear side of the vehicle body.