JP3041910B2 - Posture adjustment device such as combine - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a posture adjusting device such as a combine.

[Conventional technology]

For example, in a working vehicle having a threshing sorter such as a combine, in order to maintain the performance of the threshing sorter, the body can be rolled in the left-right direction or pitched in the front-rear direction to be maintained and controlled in a horizontal posture. In order to maintain the traveling performance under the condition that the traveling device sinks, such as a wetland, the vehicle height and height can be adjusted.

[Problems to be solved by the invention]

As described above, when the vehicle height is configured to be adjustable up and down,
The configuration is such that the body is supported via a support mechanism that can be raised and lowered.

Therefore, when the vehicle height is increased, the position of the center of gravity of the body is increased, and the body becomes unstable, and the body is likely to vibrate or shake.

In addition, since the body is supported via a supporting mechanism that can be raised and lowered, even if the vehicle height is lowered, the instability of the body remains due to the lack of rigidity of the supporting mechanism, and the body vibrates and shakes during traveling. I can not escape.

[Means for solving the problem]

The present invention employs the following technical means in order to solve the above-described problems.

That is, as described in claim 1, the vertical interval between the body frame 4 and the traveling device 1 and the relative angle in the front-rear direction can be changed, and the vertical direction between the machine frame 4 and the traveling device 1 can be changed. An attitude adjusting device such as a combine, wherein the attitude adjusting device is interlocked so as to reduce the front-rear direction relative angle between the body frame 4 and the traveling device 1 due to the interval reducing operation;
In addition, as described in claim 2, the operation of reducing the relative angle between the body frame 4 and the traveling device 1 in the front-rear direction is performed by the body frame.
Contact part 18 provided on the vehicle 4 side and contact part provided on the traveling device 1 side
A posture adjusting device for a combine or the like according to claim 1, characterized in that the posture adjusting device is carried out by pressure contact with the device.

With this configuration, for example, on a hard and flat soil surface such as a dry field, the vertical interval between the body frame 4 and the traveling device 1 is reduced to operate at a reduced vehicle height, and the vehicle is soft as a wet field. On a rough soil surface, the vertical distance between the body frame 4 and the traveling device 1 can be increased to operate the vehicle at a higher vehicle height.

Also, by reducing the relative angle between the body frame 4 and the traveling device 1 in the front-rear direction, it is possible to maintain the body frame 4 in the front-rear horizontal position regardless of the inclination of the traveling device 1 in the front-rear direction. is there.

According to the first aspect of the present invention, the relative angle between the body frame 4 and the traveling device 1 in the front-rear direction is reduced due to the operation of reducing the vertical interval between the body frame 4 and the traveling device 1. Operates to reduce. As a result, the vehicle height decreases and the relative attitude between the body frame 4 and the traveling device 1 approaches a parallel attitude, so that the position of the center of gravity of the body further decreases.

In addition to the above, in the invention according to the second aspect, the operation of reducing the relative angle between the body frame 4 and the traveling device 1 in the front-rear direction is performed by the contact portion 18 provided on the body frame 4 side and the traveling device 1.
This is performed by pressure contact with the contact portion 17 provided on the side, so that the support rigidity of the machine body when the vehicle height is lowered is increased.

〔The invention's effect〕

As described above, according to the first aspect of the present invention, the vertical interval between the body frame 4 and the traveling device 1 and the relative angle in the front-rear direction can be changed, and the body frame 4 and the traveling device 1 can be changed. And an attitude adjusting device such as a combine, which is configured so as to interlock so as to reduce the front-rear direction relative angle between the body frame 4 and the traveling device 1 due to the operation of reducing the vertical interval between the vehicle and the traveling device 1. In addition, the position of the center of gravity of the body is lowered, and stable traveling can be performed.

According to the second aspect of the present invention, the airframe flare is provided.
The reduction operation of the relative angle in the front-rear direction between the vehicle 4 and the traveling device 1
2. A posture adjusting device for a combine or the like according to claim 1, wherein the pressing is performed by a contact between a contact portion 18 provided on the body frame 4 side and a contact portion 17 provided on the traveling device 1 side. Accordingly, the position of the center of gravity of the body is reduced, and the support rigidity of the body is increased, so that more stable traveling can be performed.

[Embodiment of the invention]

In the example shown in the figure, the traveling device is used as a combine crawler form, and a pair of front and rear parallel link arms 5 and 6 are provided on the lower left and right sides of a vehicle frame 2 having a girder shape in plan view. In this way, a roller frame 7 is provided so as to be able to move up and down freely, and a rolling wheel 8 is provided on each of the left and right scroller frames 7, and between the rolling wheel 8 and a sprocket 9 at the front end of the vehicle body frame 2. A crawler 10 mainly composed of a rubber material is stretched between the sprockets 9 so that the sprocket 9 is driven by the rotation of the drive shaft 11.

The upper portions of the front and rear link arms 5 and 6 are connected by a rod 12, and a rolling cylinder 13 that is expanded and contracted by hydraulic pressure is provided between the vehicle body frame 2 and the upper end of the rear link arm 6. By the expansion and contraction of the left and right rolling cylinders 13L, 13R, the left and right crawler frames 7 are independently or simultaneously moved up and down with respect to the vehicle body frame 2 to roll in the left and right directions.
It can be lifted and lowered while maintaining a horizontal shape and a ring.

The body frame 4 is provided along the upper side of the body frame 2 and has a front portion supported by a lateral shaft 3 which is a pivot axis of a front link arm 5 with respect to the body frame 2. , This axis 3
The body frame 4 is configured so as to be freely pitchable, and a link arm 14 is provided between the rear ends of the body frame 4 and the vehicle body frame 7 so as to be freely expandable and contractible, and an upper end of the link arm 14 is provided. A pitching cylinder 15 which is expanded and contracted by hydraulic pressure is provided between the body frame 4 and the body frame 4, and the link arm 14 is expanded and contracted by the expansion and contraction of the pitching cylinder 15, so that the body frame 2 Pitch 4 can be rotated.

The link arms 5 and 6 are formed in a crankshaft so that the upper portion is located inside the vehicle body frame 2, and the crankshaft-shaped shaft portion is rotatable in the vehicle body frame 2. It is pivoted to make the shaft 3, 16 parts. A stopper 17 is protruded from the rear link arm 6 on both the left and right sides toward the inner body frame 4 side.
A stopper 18 protrudes outward also from the side of the frame 4, and the relative position where the stopper 18 is locked to the stopper 17 when the body frame 4 rotates downward around the shaft 3. The lower limit position of the body frame 4 is set at a related position where it can be locked. The shaft 3, which is the pitching center, may be set at the rear part of the body frame 4 so that the front part of the body frame 4 is rotated up and down.

The rolling cylinder 13 includes a pair of left and right rolling cylinders 13L and 13R, and is configured to be hydraulically operated by switching through left and right solenoid valves 20L and 20R of a hydraulic circuit 19, and the pitching cylinder 15 is a solenoid. This is a configuration operated by the valve 21. The left solenoid valve 20L of the left rolling cylinder 13L has an upper left solenoid 22 and a lower left solenoid 23 activated by the output of the controller, and the right solenoid valve 20R of the right rolling cylinder 13R has an upper right solenoid valve. Solenoid 24, lower right solenoid 2
5, the solenoid valve 21 of the pitching cylinder 15 has a rear upper solenoid 26, a rear lower solenoid 27,
By the output of each of these solenoids 22 to 27, the solenoid valves 20L, 20R, 21 and the like are switched and controlled, and each of the rolling cylinders 13L, 13R, or the pitching cylinder 15 is expanded and contracted,
Rolling control and pitching control are performed. P is a hydraulic pump, T is a tank port, 28 is a relief valve, 29 is an unload valve operated by an unload solenoid 30, and 31, 32, and 33 are check valves.

The controller has a microcomputer, and on the input side, an upper switch 34, a lower switch 35 for raising and lowering the entire vehicle frame 2, and a roll for moving the vehicle frame 2 right and left. Left switch 36, right switch 37, body frame
Rear switch 38, rear lower switch 39 for tilting the frame 4 in the front-rear direction, a threshing switch 40 for turning on and off the transmission to the threshing device, and for maintaining and controlling the body frame 2 and the body frame 4 horizontally. A horizontal switch 41, a left / right tilt sensor 42 for detecting the left / right inclination of the vehicle body frame 2 and the like to perform left / right rolling control, and a pitching control by detecting the front / back inclination of the body frame 4 and the like. Front and rear tilt sensor 4
3, a left stroke sensor 44 for detecting the amount of expansion and contraction of the left and right rolling cylinders 13L and 13R and performing feedback control;
A front and rear stroke for detecting the amount of expansion and contraction of the right stroke sensor 45 and the pitching cylinder 15 and performing feedback control.
Sensor 46 and the like. 47 is an automatic lamp.

When the upper switch 34 is turned ON, the left and right upper solenoids 22, 2
4 is output, and the left and right rolling cylinders 13L, 13R are simultaneously operated by the same amount to maintain the vehicle body frame 2 in the left-right parallel posture with respect to the crawler frame 7. To raise. When the lower switch 35 is turned on, the lower solenoids 23 and 25 are output to the left and right to lower the solenoids. When the left switch 36 is turned ON, the lower left solenoid 23 and the upper right solenoid 24
At the same time, and the vehicle body frame 2 is rolled downward in the left direction. Further, when the right switch 37 is turned on, the lower right solenoid 25 and the upper left solenoid 22 are simultaneously output, and roll down in the right direction.

When the rear upper switch 38 is turned on, the rear upper solenoid 26 is output, the pitching cylinder 15 is operated, and
Is rotated upward about the shaft 3. Further, when the rear lower switch 39 is turned on, the rear lower solenoid 27 is output and rotated downward.

When the threshing clutch switch 40 is OFF, even in the automatic horizontal control mode in which the horizontal switch 41 is turned ON and the horizontal control is automatically performed, this is released and the parallel control mode is released.
And the vehicle body frame 2 has left and lower right solenoids 23 and 25
Is turned on by turning ON, so that the posture becomes parallel to the left and right crawl frames 7 at positions near the lower limit.
The same applies when the horizontal switch 41 is turned off. When the threshing clutch switch 40 and the horizontal switch 41 are turned ON, the mode is switched from the parallel control to the automatic horizontal control mode,
The vehicle frame 2 is rolled by the left and right tilt sensors 42 and the outputs of the solenoids 22 to 25 based on a preset height by operating the upper and lower switches 34 and 35, and the like. It is controlled horizontally left and right. At this time, when the input by the front and rear inclination sensor 43 is operated so as to be possible, the output of the rear upper and lower rear solenoids 26 and 27 controls the pitch of the body frame 4 in the front and rear horizontal direction. This allows the body frame 4 to have a horizontal posture in the left-right and front-rear directions regardless of the inclination of the crawler frame 7.

As described above, the vehicle frame 2 is moved up and down by the upper and lower switches 34 and 35, the threshing clutch switch 40, and the horizontal switch 41.
When the vehicle body 2 is lifted, the link arm 6 pivots about the shaft 16 to the lower side B. Therefore, the stopper 17 integral with the link arm 6 is provided with the body frame. 4 is separated downward from the stopper 18 which is integral with 4. Conversely, when the vehicle body frame 2 descends, these stoppers-1
7,18 approach and approach. When the vehicle body frame 2 is at the lower limit position and is in a posture parallel to the left and right crawler frames 7, these stoppers 17 and 18 come into contact with each other, and
The pressure by the right and left rolling cylinders 13L and 13R is applied in a state where an appropriate contact pressure is applied between the members 7 and 18. or,
When the stoppers 17 and 18 are in contact with each other, the body frame 4 is pressed against the pressure of the pitching cylinder 15 for lowering the body frame 4, and at this time, the angle of the body frame 4 by the pitching cylinder 15 becomes Body frame 2
When the vehicle body frame 4 and the vehicle body frame 2 are at the lowermost position, the vehicle body frame 4 and the vehicle body frame 2 are in a posture substantially parallel to the front-rear direction. In order to be set, at the lower limit position of the vehicle body frame 2, the stoppers 17 and 18 come into contact with each other and are further pressed to the parallel posture, thereby operating against the pressure by the pitching cylinder 15, The pitching cylinder 15 is forcibly pulled out to maintain the parallel posture.

Now, the operation of performing the parallel control at the lower limit position by lowering the vehicle body frame 2 will be described with reference to FIG. Assuming that the detection value of the front / rear stroke sensor 46 is a voltage value V, the mechanical frame 4 is rotated around the shaft 3 to be in the front / rear parallel state with respect to the vehicle body frame 2. The parallel value is assumed to be, for example, A = 2.5V, and it is possible to change from the lower limit of the descending slope A = 0V to the upper limit of the descending slope A = 5V, and the vehicle body frame 2 is switched from the horizontal control to the parallel control. Is set to an angle of A = 2.4V which is slightly inclined downward after the mechanical parallel value.

When the front / rear horizontal control is automatically performed at the vehicle height set by the upper and lower switches 34 and 35, the body frame 2 is controlled under the mechanical parallel value A = 2.5V. The front and rear horizontal control of the program 4 is performed. However, when the horizontal switch 41 is switched from ON to OFF or the threshing clutch switch 40 is switched from ON to OFF, the mechanical parallel value A is switched from 2.5V to the parallelizing target value A = 2.4V, The body frame 4 has this parallelization target value A = 2.4V
Will be modified to Further, parallel control at the lower limit position is performed with reference to the leveling target value A = 2.4V (FIGS. 7 and 8).
Figure). Therefore, when it is lowered to near the lower limit position, it comes into contact with the stoppers 17 and 18, but further against the contact pressure of the stoppers 17 and 18, the left and right rolling cylinders 13L and 13R As a result, the link arm 6 is further rotated in the direction indicated by the arrow B, and the stoppers 17 and 18 are pressed to make the link arm 6 parallel with the pressing force of the parallelizing target value A = 2.4V. When the actuator reaches the lower limit position and the pitching cylinder 15 presses the parallelization target value A = 2.4V, the stoppers 17 and 18 contact and press A = 2.5V.
And the body frame 2 and the body frame 4 are made parallel. That is, the mechanical parallel value A = 2.
It becomes 5V. Therefore, at such a lower limit position of the vehicle body frame 2, the vehicle body frame 2, the body frame 4, and the right and left scroller frames 7 are in a posture parallel to each other in the front-rear and left-right directions. I have.

In the pitching control based on the detection of the front-rear inclination sensor 43, the front-rear inclination sensor 43 controls the swing of the body,
When a sharp inclination signal different from a mere forward / backward inclination of the body frame 4 is detected during starting acceleration, deceleration and stop of traveling,
In order to cancel such signal detection and cut unnecessary output, averaging processing is performed on the detected voltage value of the front-rear tilt sensor 43 by a moving average or the like.
An output is provided when the vehicle moves out of the neutral zone, which is a horizontal position in the front-rear direction, and an ON delay (output delay) is provided at the start of the output. It is assumed that the voltage returns to the neutral zone without averaging.

For example, in FIG.
Toraruzo - the emissions as 2.6V ± 0.57V, x ₀ ~ previous x _4, and the average value x of the detected read value to the current x, calculates a moving average value.

x = (x ₀ + x ₁ + x ₂ + x ₃ + x ₄ + x) / 6 Here, when the average value x is in the neutral zone, the timer value 0.5 seconds is set. It starts when the average value x deviates from the neutral zone. When the timer value reaches 0 seconds, the rear lower solenoid 27 or the rear upper solenoid 26 is output. Here, the decrement means that 1 is reduced in one cycle of the flow chart. One cycle of the flow chart is set to 10 msec.
sec) is subtracted and output when it reaches 0 sec.

[Brief description of the drawings]

FIG. 1 shows an embodiment of the present invention. FIG. 1 is a partial side view, FIG. 2 is a partially enlarged side view, FIG. 3 is a partially broken front view, and FIG. Fig. 5 is a control block diagram, Fig. 6 is a hydraulic circuit diagram, Fig. 7 is a partial control flowchart, Fig. 8 is an operation condition table showing operation conditions, FIG. 9 is a flowchart showing another partial control. DESCRIPTION OF SYMBOLS 1... Traveling device 4... Body frame 17... Contact portion 18.

Claims (2)

(57) [Claims] The vertical interval between the body frame 4 and the traveling device 1 and the relative angle in the front-rear direction can be changed, and the vertical interval between the aircraft frame 4 and the traveling device 1 is reduced. An attitude adjusting device such as a combine, wherein the airframe 4 and the traveling device 1 are linked to reduce the front-back relative angle. 2. An operation of reducing the relative angle between the body frame 4 and the traveling device 1 in the front-rear direction is performed by a contact portion 18 provided on the body frame 4 and a contact portion 17 provided on the traveling device 1 side. The posture adjusting device for a combine or the like according to claim 1, wherein the posture adjustment is performed by pressure welding.