JP3066832B2 - Control device for mobile farm machine - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rolling control device for performing rolling control of a vehicle body by raising and lowering a pair of left and right traveling devices with respect to a vehicle body, and a pitching control device for performing pitching control. The present invention relates to a control device for a moving agricultural machine, and can be used for a combine, a tractor, a seedling planter, and the like.

2. Description of the Related Art Conventionally, problems to be solved by the invention When the vehicle body leans right and left while traveling, the rolling control of the vehicle body is performed by the rolling control device, and when the vehicle body leans forward and backward, the vehicle body is pitched by the pitching control device. The vehicle runs in a stable posture.

However, when the vehicle body leans in the front-back and left-right directions during traveling, it is necessary to balance these two controls in order to correct pitching of the vehicle body by simultaneously performing pitching control and rolling control. It is highly possible that the inclination correction control does not converge to the ever-changing inclination information. Therefore, it is desirable to give priority to either the front-back or left-right inclination from the viewpoint of the stability of the inclination correction control.

In view of the above, the present invention aims to stabilize the running of the vehicle body by appropriately performing the inclination correction control when the vehicle body leans forward and backward and right and left at the same time.

Means for Solving the Problems The present invention has a rolling control device 3 that performs rolling control of the vehicle body 2 by raising and lowering a pair of left and right traveling devices 1 with respect to the vehicle body 2 and a pitching control device 4 that performs pitching control. In the moving agricultural machine, the rolling control or the pitching control is performed by giving priority to the larger of the left-right inclination and the front-rear inclination based on the left-right inclination and the front-rear inclination of the vehicle body 2. .

Effects and Effects of the Invention When the vehicle body 2 leans left and right during traveling, the pair of left and right traveling devices 1 is moved up and down with respect to the vehicle body 2 to perform rolling control of the vehicle body 2 by the rolling control device 3.
When the vehicle leans back and forth, the pair of left and right traveling devices 1 are moved up and down with respect to the vehicle body 2 to perform pitching control of the vehicle body 2 by the pitching control device 4, and the vehicle body 2 travels by correcting the lateral and longitudinal inclination of the vehicle body 2 .

When the vehicle body 2 is tilted to the left, right, front and back simultaneously, when the left and right inclination is large, the rolling control is performed after giving priority to the rolling control. When the front and rear inclination is large, the pitching control is performed after giving priority to the pitching control. As such, the rolling control or the pitching control is performed with priority given to the one with the larger inclination.

As described above, when the vehicle body 2 leans to the left and right and back and forth simultaneously, the greater the inclination, the higher the degree of urgency. Therefore, the correction control is performed with priority given to the greater inclination, so that appropriate control is performed. Stabilization can be achieved.

In the illustrated example, a vehicle body frame 5 in the front-rear direction is provided on each of the lower left and right sides of the vehicle body 2, and a pair of left and right traveling devices 1 attached to the vehicle body 2 are attached to the front ends of the left and right vehicle frames 5. The right and left traveling shaft pipes 7 of the traveling transmission case 6 to be transmitted are attached. Further, a support shaft 8 supported by the left and right body frames 5 is provided near the rear side of the left and right body frames 5, and the left and right pitching arms 9 are protruded forward from the support shaft 8 to be integrated. A pitching cylinder 10 that is rotatably provided and swings the left and right pitching arms 9 is provided on one body frame 5 side. Links 11 are rotatably provided at the tips of the left and right pitching arms 9 respectively.

A pitching frame 12 is provided inside the left and right vehicle body frames 5. A traveling frame 14 is provided in the front-rear direction below the pitching frame 13 on both the left and right sides of the pitching frame 12 and below the lateral outside. A plurality of rolling wheels 15 are provided rotatably on the outer sides of the left and right traveling frames 14 and provided at the rear end thereof are tensioning wheels 16 that are attached to the traveling frames 14 so as to be freely accessible. .

The wheel body 16, the plurality of wheels 15, and the traveling transmission case 6
A crawler is wound around the driving sprocket 48 at the tip of the left and right traveling shaft pipes 7 to constitute the traveling device 1.

Before and after the pitching frame 12, a support shaft 17 is provided on the lower side between the left and right pitching frames 13, and rolling arms 18 are provided at both left and right ends protruding from the pitching frame 13 of these front and rear support shafts 17, respectively. ing. One end of each of the rolling arms 18 is rotatably connected to a pin 19 of the traveling frame 14, and the other end is connected to the front and rear rolling arms 18 by connecting rods 20, respectively, and the other end of the rear rolling arm 18 is connected. Rolling cylinders 21 are provided between the leading end of each of them and the pitching frame 13. The expansion and contraction of the rolling cylinder 21 causes the front and rear rolling arms 18 to move forward and backward.
Are pivoted about the front and rear support shafts 17 as pivots, and the pitching frame
The running frame 14 is configured to move up and down with respect to 12.

The left and right sides of the support shaft 17 at the front of the pitching frame 12 are rotatably supported by the lower portions of the left and right body frames 5, respectively, and the pins respectively attached to the rear side on the left and right pitching frames 13 are provided.
The tip of the link 11 of the left and right pitching arm 9 is rotatably attached to 22.

When the pitching arm 9 is rotated around the support shaft 8 by the extension of the pitching cylinder 10, the pitching frame 12 and the left and right traveling frames 14 are integrally rotated via the link 11 with the front support shaft 17 as a rotation center. It is linked so that it can be moved.

When the rolling cylinder 21 is extended, the front and rear rolling arms 18 are integrally rotated as pivots of the front and rear support shafts 17, and the traveling frame 14 is moved downward while maintaining a parallel state with the pitching frame 13. It is linked. The pivot of the front rolling arm 18 and the pivot of the pitching frame 12 are the same.

A stroke sensor 23 for detecting the operation amount of the pitching cylinder 10 is provided, and the left and right rolling cylinders 21 are provided with left and right stroke sensors 24 for detecting the operation amounts of the rolling cylinders 21 respectively.

A left-right inclination sensor 25 for detecting the left-right inclination of the vehicle body 2 and a front-rear inclination sensor 26 for detecting the front-rear inclination are provided. or,
The left and right rolling cylinders 21 are operated to operate the left and right traveling device 1
The vehicle height raising / lowering lever for raising and lowering the vehicle height to adjust the vehicle height is provided, and a manual tilt lever for operating the left and right rolling cylinder 21 or the pitching cylinder 10 to tilt the vehicle body 2 back and forth or left and right is provided.

A mowing device that cuts culms at the front of the body 2 is an elevating cylinder
The mowing device is provided so as to be able to move up and down by a lifting lever.

FIG. 2 shows a hydraulic circuit, in which an electromagnetic valve 29 is provided in an oil passage from the hydraulic pump 28 to the pitching cylinder 10, and an electromagnetic valve 31 is provided in an oil passage to the left rolling cylinder 21L. Solenoid valve 30 in oil passage to 21R
Is provided. In the oil passage of the lifting cylinder 27 of the reaper,
An up solenoid valve 32 and a down solenoid valve 33 are provided. 34 is an unload valve.

A manual tilt switch which is turned on by a tilt operation of the manual tilt lever to the front, rear, left and right with respect to a controller including the rolling control device 3 and the pitching control device 4
The detection information of 35, the detection information of the vehicle height up / down switch 36 which is turned on by the up / down operation of the vehicle height up / down lever, and the cutting / raising / lowering switch 37 which is turned on by the up / down operation of the up / down lever
Detection information, a vehicle body horizontal switch 38 for maintaining the vehicle body 2 horizontally horizontally, information on the front and rear inclination of the vehicle body 2 by the front and rear inclination sensor 26, information on the left and right inclination of the vehicle body 2 by the left and right inclination sensor 25, and information on the pitching cylinder 10 by the stroke sensor 23. Operation amount detection information, detection information of each operation amount of the left and right rolling cylinders 21 by the left and right stroke sensors 24, and a grain stalk sensor
When 39 stalk detection information and the like are input, the controller raises the solenoid 4 to the left of the solenoid valve 31 in accordance with the information.
0, left-down solenoid 41, solenoid valve 30 right-up solenoid 4
2, right-down solenoid 43, solenoid valve 29 front-up solenoid 4
4, front lowering solenoid 45, mowing solenoid valve 3
2. The configuration is such that the cut-off solenoid valve 33 and the unload valve 34 are controlled so as to be output to the respective valves.
46 is a sensitivity changing means, and 47 is an upper / lower limit switch of the lifting / lowering cylinder 27.

When the longitudinal inclination sensor 26 detects the longitudinal inclination of the vehicle body 2,
The pitching control device 4 of the controller operates the forward raising solenoid 44 or the forward lowering solenoid 45 to operate the solenoid valve.
29 is switched, the pitching cylinder 10 is extended and contracted, and the vehicle body 2 is controlled to pitch horizontally.
When the left-right inclination sensor 25 detects the left-right inclination of the vehicle body 2, a right-up solenoid 42, a right-down solenoid 43, and a left-up solenoid are controlled by the rolling control device 3 of the controller.
The solenoid valves 30 and 31 are switched by operating the solenoid 40 or the lower left solenoid 41, and the left and right rolling cylinders 21 expand and contract,
The vehicle body 2 is configured to be controlled to roll horizontally in the left-right direction.

When the vehicle body 2 is simultaneously tilted forward, backward, left and right, and the front and rear tilt sensor 26 and the left and right tilt sensor 25 simultaneously detect the tilt of the vehicle body 2, the detected values of the front and rear tilt and the left and right tilt are compared by the controller, and the tilt is large. This is a configuration in which rolling control or pitching control is performed with higher priority.

When the vehicle body 2 inclines in the left-right direction while traveling, the inclination is detected by the left-right inclination sensor 25, and based on this detection information, the left rolling cylinder 21L and the right rolling cylinder 21R expand and contract, and the left-right traveling device 1 is pitched. Rolling control by the rolling control device 3 is performed so that the vehicle body 2 is moved up and down with respect to the frame 12 to maintain the vehicle body 2 horizontally horizontally. When the vehicle body 2 tilts in the front-rear direction during traveling, the tilt is detected by the front-back tilt sensor 26,
Based on this detection information, the pitching cylinder 10 expands and contracts, the pitching frame 12 rotates with respect to the vehicle body 2, and the left and right traveling device 1 integrally rotates rearward, and the vehicle body 2
Is a pitching control device 4 to maintain the front and rear horizontal
Pitching control is performed.

When the vehicle body 2 is tilted to the front, rear, left and right simultaneously, the front and rear tilt and the left and right tilt are respectively detected and compared by the controller.
Alternatively, rolling control is performed.

For example, when the front-rear inclination is large, the pitching cylinder 10 is expanded and contracted by the pitching control device 4, and the pitching frame 12 and the left and right traveling device 1 are integrally rotated with the support shaft 17 as a rotation center to perform pitching control. The rolling control device 3 expands and contracts the left and right rolling cylinders 21, and the rolling control is performed so that the left and right traveling devices 1 are individually raised and lowered with respect to the pitching frame 12. Is corrected.

As described above, when the vehicle body 2 is simultaneously inclined forward, backward, left and right,
Since the correction control is performed with priority given to the one with the larger inclination, the control can be stabilized.

Note that the sensitivity of the pitching control by the pitching control device 3 may be made lower than the sensitivity of the rolling control by the rolling control device 4. While the vehicle body 2 is traveling, the front-rear inclination rarely changes abruptly with respect to the left-right inclination, and a working device such as a reaper is often provided at the front of the vehicle body 2. In such a case, Since the influence on the work is small, even if the sensitivity of the pitching control is lowered, there is little trouble and the control can be stabilized.

[Brief description of the drawings]

1 shows an embodiment of the present invention. FIG. 1 is a control circuit diagram, FIG. 2 is a hydraulic circuit diagram, FIG. 3 is a side view, and FIG. 4 is a plan view thereof. In the drawing, reference numeral 1 denotes a traveling device, 2 denotes a vehicle body, 3 denotes a rolling control device, and 4 denotes a pitching control device.

Continuation of the front page (56) References JP-A-63-46910 (JP, A) JP-A-60-92910 (JP, A) JP-A-1-277416 (JP, A) Full-opened JP-A-63-202582 (JP) , U) Jikken 56-16893 (JP, Y2) (58) Fields investigated (Int. Cl. ⁷ , DB name) B62D 55/116 A01D 67/00 B60G 17/00

Claims (1)

(57) [Claims] 1. A mobile agricultural machine having a rolling control device 3 for performing rolling control of a pair of left and right traveling devices 1 with respect to a vehicle body 2 to perform rolling control of the vehicle body 2 and a pitching control device 4 for performing pitching control. A control device characterized in that the rolling control or the pitching control is performed by giving priority to the larger of the left-right inclination and the front-rear inclination based on the left-right inclination and the front-back inclination.