JPH03139472A - Steering control device for running working machine - Google Patents

Abstract

PURPOSE:To simplify manual operation and to perform a safe revolving work by a method wherein when a control lever is inclined as a core revolving switch is pressed, simultaneously with output of a core revolving signal, a signal by means of which the rotation speed of each hydraulic motor is reduced to a proper value responding to the revolving degree is outputted. CONSTITUTION:When a control lever 17 is laterally inclined as a core revolving switch is brought into an ON-state, so-called core revolving is effected. When the control lever 17 is in a forward inclination state, core revolution during forward running is effected and when it is in a rear inclination state, core revolution during reversing is effected. Left and right running crawlers 2a and 2b are driven in an opposite direction to each other, and output signals having respective given target values are outputted from a central control device 31 to the solenoids of control valves 14a and 14b so as to reduce the rotation directions and the numbers of revolutions of left and right hydraulic motors 13a and 13b so that the running speeds of the two running crawlers 2a and 2b are reduced to a value approximately 1/4 of a speed during straight running.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a steering control device for a traveling work machine equipped with a pair of left and right traveling crawlers, such as a combine harvester or a tractor for agricultural work or civil engineering.

[Conventional technology]

The traveling section of a traveling work machine such as a combine harvester or a tractor is composed of a pair of left and right traveling crawlers, and each traveling crawler is driven by a combination of a hydraulic pump and a hydraulic motor.In other words, the left and right traveling crawlers are driven by a pair of a hydraulic pump and a hydraulic motor. For example, it is possible to perform forward and turning operations by driving with independent left and right hydraulic drive systems (2 pumps, 2 motors).
It is disclosed in the publication No.-34972.

[Problem to be solved by the invention]

According to this prior art, a crop row detection device, each flow control valve for controlling the rotation speed of the left and right hydraulic motors, and an electric control circuit are provided, and the turning command signal from the detection device is transmitted to the flow control valve. is controlled to vary the rotational speed of each hydraulic motor for the left and right traveling crawlers, respectively, and when there is no signal from the detection device, a straight-line command signal is given to the flow rate control valve to cause the aircraft to travel straight. This control was commonly used for so-called unmanned automatic steering and steering.

However, in the past, operators boarded the aircraft to operate and operate the aircraft.
When performing running operations, left and right turns require operating separate left and right clutches or operating levers to reduce or stop the rotation speed of the right or left traveling crawler, which is the inner side of the turn. In the case of operating levers, both hands must be used, which is time-consuming.

Furthermore, if the rotational speed of the traveling crawler on the outside of the turn is the same as that in the straight-ahead state, the vehicle will make a rapid turn, which poses a problem in terms of safety.

The present invention aims to solve these problems.

[Means for solving problems]

Therefore, in the present invention, power is transmitted to a pair of left and right traveling crawlers in a traveling working machine by separate left and right hydraulic drive means each consisting of a hydraulic pump and a hydraulic motor, and the rotation of the left and right hydraulic motors is performed. In a traveling working machine configured to control the number and direction of rotation, a single manual operation lever provided on the traveling working machine is configured so that it can be tilted in the front-rear direction and left-right direction. In addition, the operating lever is provided with an interlining rotation switch,
A control means is provided for switching the traveling working machine between straight movement, left and right rotation, and interlining rotation in response to signals from the tilting operation of the operating lever and the interlining rotation switch operation, and the control means is provided to switch the traveling working machine between straight movement, left and right rotation, and interlining rotation, and the control means is provided to switch the traveling working machine between straight movement, left and right rotation, and interlining rotation in response to signals from the tilt operation of the operation lever and the operation of the interlining rotation switch. Determine the running speed of both the left and right running crawlers, determine the degree of turning to the right or left by the left and right tilt positions of the control lever, and further tilt the control lever left and right while pressing the interlining rotation switch provided on the control lever. When the interlining is turned, signals for turning the interlining are outputted, and at the same time signals are outputted to appropriately reduce the rotational speed of each hydraulic motor compared to the case of straight movement according to the degree of turning.

[Action/effect of the invention]

In this way, in the present invention, the forward 1 & tilt operation and the left/right tilt operation are performed simultaneously with one operating lever, and the traveling speed of both left and right traveling crawlers is determined by the longitudinal tilted position of the operating lever, and the operating speed of the left and right crawlers is determined by the operating lever The rotational speed of the hydraulic motors for the left and right traveling crawlers is separately controlled by issuing a signal that determines the degree of turning to the right or left at the left and right tilted positions of the crawler.

Therefore, by tilting the single control lever forward or backward, the aircraft can move forward or backward, and by tilting it left or right, it can turn left or right.
At the same time, the degree of turning (the size of the turning radius) can be adjusted by adjusting the left/right inclination of the control lever, making manual operation much simpler compared to the conventional method of operating multiple control levers separately. be done.

Additionally, the turning speed when turning is automatically determined to be slower than when driving straight, depending on the degree of inclination of the control lever in the left-right direction. This has the remarkable effect of making turning operations much safer and easier than conventional operations.

〔Example〕

Next, an embodiment will be described. Reference numeral 1 denotes a running body of a general-purpose combine harvester having a pair of left and right running crawlers 2a, 2b. A threshing device 3 is mounted on the running body 1, and a The axis of the handling torso is the traveling aircraft 1.
The receiver is disposed along the direction of movement, and below the receiver is equipped with a swinging sorting device using a net and sheave, etc., and a wind sorting device using wind from a winnowing fan.

The reaping pre-processing device 4 opens at the front of the threshing device 3,
A rectangular cylindrical feeder house 5 that can be raised and lowered by a hydraulic cylinder 6, a horizontally long bucket/bucket-shaped platform 7 connected to the front end of the feeder house 5, and the platform 7.
It consists of a scraping auger 8 installed horizontally inside, a gutter 9 with a tine bar located in front of it, and a clipper-shaped cutting blade 10 placed longitudinally on the left and right sides of the lower surface of the platform 7.

As shown in FIG. 3, the left running crawler 2a and the right running crawler 2b are separately driven by one hydraulic pump and one hydraulic motor, which are hydraulic drive means of different systems.

That is, one engine 11 mounted on the traveling aircraft l transmits power to the left and right hydraulic pumps 12a and 12b to drive them independently, while the left hydraulic motor 13a is driven by hydraulic pressure from the left hydraulic pump 12a. The left hydraulic motor 13a drives the left traveling crawler 2a separately.

On the other hand, the right hydraulic pump 12b drives the right hydraulic motor 13b, and the right hydraulic motor 13b is used to drive the Ronilla 2b to the right.
to drive.

Moreover, the symbols 14a and 14b are the respective hydraulic motors 13a,
By controlling the hydraulic flow rate etc. for adjusting the swash plate angle in each hydraulic motor with the control valve for 13b,
The number of rotations and the direction of rotation of each hydraulic motor 13a, 13b can be changed forward or reverse.

Reference numerals 15a and 15b are vehicle speed sensors that detect the rotation speed of the output shaft or running shaft 16 of the left and right hydraulic motors 13, and each vehicle speed sensor is configured by placing an electromagnetic pickup close to the tooth surface that rotates integrally with the shaft, and detecting the magnetic field. A sensor that detects the rotational speed from periodic fluctuations in the rotation speed can be used.

Reference numeral 17 is one operating lever provided on the control section on the traveling aircraft 1, and the operating lever 17 is operated in the longitudinal direction (A) of the traveling aircraft 1.
-B direction) and the left-right direction (C-D direction).

One example is as shown in FIGS. 4 to 6,
A box 21 with an open top surface that is rotatable only around its axis relative to the front and rear wheels 20 horizontally installed between the front and rear frames 18 and 19.
The operating lever 17, which rotates integrally with the horizontal shaft 22, is attached to the horizontal shaft 22 rotatably mounted on the left and right sides of the box 21, and the operating lever 1
A slider 24 is provided at the lower end of the housing 21 to make sliding contact with the surface of the arc-shaped resistor 23a of the vehicle speed potentiometer 23 whose center of rotation is the axis of the horizontal shaft 22. The swing potentiometer 26 includes an arc-shaped resistor 26a that is in sliding contact with a slider 25 protruding from the outer surface of the side plate 21b, and is fixed to the rear frame 19 or the like so that the longitudinal axis 20 is the center of rotation. be.

According to this configuration, the operation lever 17 can be operated in the front-rear direction (A
-B direction) by an appropriate angle (θ1), it can be rotated (tilted) by an appropriate angle (θ2) in the left-right direction (C-D direction), and in the fore-aft direction. The resistance value R1 between the slider 24 and the terminal 28 of the resistor 23a changes according to the inclination θ1 angle, and a corresponding potential (voltage) signal is output, and the resistance value R1 changes according to the inclination θ2 angle in the left-right direction. As a result, the resistance value R2 between the slider 25 and the terminal 29 of the resistor 26a changes, and the potential (voltage) changes accordingly.
It gives a signal.

In another embodiment, a vehicle speed potentiometer having a suitable structure is fixed to the inner or outer surface of the plate 21a of the box 21, and is rotated in response to the rotation of the operating lever 17 in the front-rear direction (A-B direction). The vehicle speed potentiometer is configured to output signals with different potentials depending on the relative angular position between the moving horizontal shaft 22 and the vehicle speed potentiometer. It may be configured to output different potentials depending on the relative rotation angle with respect to the box 21.

Further, the hand grip portion of the operation lever 17 is equipped with a push button type interlining rotation switch 30, which can be pressed with the thumb, and when the push button is pressed for the first time, it is in a locked state, and When pressed, the lock is released and returned, and the pressed state (ON) and unlocked state (OFF
) can be selected and held by alternate pressing action.

FIG. 7 is a diagram showing an input section and an output section for the central control device 31. The input interface section includes an interlining turning switch 30, the turning potentiometer 26, a vehicle speed potentiometer 23, and a switch that can be turned ON or OFF. An auxiliary speed change switch 32 is used to reduce or increase the vehicle speed at a fixed ratio, and is turned on when controlling the rotational speed of the left and right hydraulic motors according to the flowchart described later to control the vehicle speed to a predetermined value. A vehicle speed switch 33, left and right vehicle speed sensors 15a, 15b.

An automatic steering switch 34 that is turned on when selecting automatic steering of the combine along the rows of planted culms, a cutting selection sensor 35 that selects row cutting or horizontal cutting during the automatic steering operation, and A left shell culm sensor 36 and a right shell culm sensor 37 that detect the size of the distance to the row of planted shell culms on the left side during automatic steering work, and an engine rotation speed sensor 38 that detects the rotation speed of the engine 11 are connected respectively. do.

The control signal from the central control device 31 is output to solenoids 40 and 41 for the left and right control valves 14a and 14b via the output interface section, and also when the automatic steering switch 34 is turned on. an automatic steering lamp 42 that lights up when automatic steering control is being executed, a vehicle speed lamp 43 that lights up when vehicle speed control is executed by turning on the vehicle speed switch 33, and a reverse buzzer 44 that sounds when reversing. Connect each.

Next, aspects of vehicle speed control will be explained according to flowcharts shown in FIGS. 8 to 11.

FIG. 8 is a main flowchart, in which following the start, it is determined in step Sl whether the vehicle speed switch 33 is ON or not, and if no (vehicle speed switch 33 is QFF), manual vehicle speed control is performed in step S2. Enter subroutine. This manual vehicle speed control subroutine allows the operator to arbitrarily change the straight-line traveling speed of the aircraft by rotating the control lever 17, and is used during vehicle speed control and automatic steering control, which will be described later. It is also a priority operation that can be executed preemptively.

In this manual vehicle speed control subroutine, when the operator rotates and tilts the single operation lever 17 in the forward or backward direction, the target value of the vehicle speed is set by the output signal of the vehicle speed potentiometer 23 corresponding to the angle. The swash plate angles of both the left and right hydraulic motors 13a and 13b are set to the same predetermined value so as to reach this target value, and the combine is caused to travel straight at the speed of the predetermined target value. Vehicle speed sensor 1 determines whether the current vehicle speed is at the target value.
5 and 15b, and feedback control is performed.

In these cases, when the operating lever 17 is in an upright state, the rotational speed of both the left and right hydraulic motors is zero (neutral position), and if the operating lever 17 is tilted forward without tilting to the left or right, the traveling aircraft 1 moves forward, and the tilt angle The larger θ1 is, the faster the forward speed becomes.Similarly, if the control lever 17 is tilted backwards without tilting to the left or right, the traveling aircraft 1 will move backwards, and as the backward tilt angle of the control lever increases, it will move backwards in proportion to the backward tilt angle. The speed will also increase.

Note that when the operating lever 17 is rotated from forward tilting (advance zone of the vehicle speed potentiometer) to rearward tilting (vehicle speed potentiometer backward zone), or vice versa, from the forward tilting to the rearward tilting, the neutral position (approximately vertical state) Once the machine passes the position, the machine maintains the zero running speed state for a certain period of time (approximately 1 second in the example) and then switches from forward to backward, or from backward to forward. This prevents damage to the target mechanism and eliminates shock during driving operations.

The operating lever 17 can also be rotated (tilted) in the left and right directions, but when the left and right tilt angle (θ2) is within a predetermined slight range (the output of the turning potentiometer 26 is within the straight-line zone), as will be described later. This is a dead zone in which left and right turns are not executed.

FIG. 9 shows the manual vehicle speed control subroutine, in which step Q
1, it is determined whether or not the interlining rotation switch 30 is turned on, and the answer is yes (the interlining rotation switch 30 is turned on).
In this case, the interlining turning vehicle speed control (step Q5) described below is performed.
), and if no (interlining rotation switch 30 is 0FF), in the next step Q2, the rotation potentiometer 26 is within the straight movement zone (the horizontal rotation (inclination) angle (θ2) of the operating lever 17 is a predetermined slight If the answer is yes (within the straight-ahead zone), then the straight-ahead vehicle speed control (step Q3) described later is executed, and if the answer is no (outside the straight-ahead zone), the turning vehicle speed control described later is executed. (2) (Step Q4) is executed.

[Straight vehicle speed control ■ (Step Q3)] In this state, the interlining rotation switch 30 is OFF,
The current vehicle speed at which the operator releases the operating lever 17 is maintained. In other words, the left and right hydraulic motors 13a drive both the left and right running crawlers 2a, 2b in the same direction and their running speeds match.

In order to drive 13b in the same direction and match the rotation speed,
The central controller 31 sends output signals having predetermined target values to the solenoids 40, 41 of the control valves 14a, 14b, respectively.

For example, for the output value (S P) of the vehicle speed potentiometer 23 corresponding to the inclination angle of the operating lever 17, the output s
A proportional function fl (SP) proportional to p is selected from a map or function table set in advance in the storage section of the central controller 31, and this proportional function is used to set the right target value of the output signal sent to the right control valve 14b. The central controller 31 calculates and outputs R1=fl-(SP) and the left target value Ll=R1 of the output signal sent to the left control valve 14a.

In this way, in the straight-ahead vehicle speed control, the vehicle moves straight forward or backward while maintaining the target vehicle speed corresponding to the forward (backward) tilt angle of the control lever 17 manually moved by the operator.

[Turning vehicle speed control (Step Q4)] In this control, when the operator tilts the operating lever 17 forward or backward to the right, the vehicle will turn to the right, and if the operator tilts it to the left, the vehicle will turn to the left. The speed at the time of turning is set to be reduced to approximately 1/2 of the forward speed Vl or the backward speed v2 corresponding to the inclination angle of the operating lever.

In other words, both the left and right running crawlers 2a and 'lb drive in the same direction, and the running speed of the running crawler on the outside of the turn is reduced to approximately 1/2 of the speed when traveling straight, and at the same time, the speed of the running crawler on the inside of the turn is reduced to approximately 1/2 of the speed when traveling straight. In order to reduce the rotational speed of both the left and right hydraulic motors 13a, 13b so as to further reduce the speed at the outer side of the turn, the central controller 31 applies predetermined target values to the solenoids 40, 41 of the control valves 14a, 14b, respectively. It sends an output signal having .

For example, when a worker tilts the operating lever 17 toward the left at an appropriate angle in order to turn left, the output value (S P) of the vehicle speed potentiometer 23 corresponding to the inclination angle of the operating lever 17 at the straight-ahead vehicle speed is Calculate the proportional function fl (SP) that is proportional to the output SP (in some cases, it may have already been found). At this time, proportional functions f2 (TP) and f5 (TP) proportional to this output TP are calculated and determined, and based on these proportional functions, the right control valve 14 corresponding to the outside of the turn is
Right target value R2 of the output signal sent to b = f2 (TP) x
fl (SP) and the left target value L2 of the output signal sent to the left control valve 14a corresponding to the inside of the turn = R2xf5 (TP)
are calculated and output by the central control unit 31.

In this case, the proportional function f5 (TP) is set to further reduce the speed on the inside of the turn than the speed on the outside of the turn. Furthermore, as can be understood from these functional relationships, when the turning radius is small, that is, when the inclination angle θ2 of the operating lever 17 to the right or left is large, the speed of the running crawler on both the left and right sides is made to be more decelerated. This is to avoid compromising driving stability when making tight turns.

When the turning direction is opposite to the above, the relationship between the right and left target values of the output signal is reversed.

Note that when the operating lever 17 is switched from left to right or from right to left, the turning direction is changed for an appropriate period of time (0.5 in the embodiment) without suddenly performing turning control in the opposite direction.
(seconds) - output value for straight vehicle speed control is provided to ensure safe operation.

[Interlining rotation control (Step Q5)] In this control, if the operating lever 17 is tilted to the right or left while the interlining rotation switch 30 is turned on, so-called interlining rotation is executed. , when the operating lever 17 is in the forward tilted state, the interlining rotates when moving forward,
If the operating lever 17 is tilted backward, the interlining will be rotated during the backward movement.

For example, when the operating lever 17 is appropriately tilted forward and tilted to the right, the left and right hydraulic motors move toward each other so that the right crawler 2 on the inner side of the turn moves backward and the left crawler 2 on the outer side of the turn moves forward. Rotates forward and backward.

On the other hand, when the vehicle is appropriately tilted forward and tilted to the left, the left and right hydraulic motors rotate in forward and reverse directions so that the left crawler 2 on the inner side of the turn moves backward and the right crawler 2 on the outer side of the turn moves forward. .

In this case, the speed of both the left and right running crawlers 2, 2 is greatly reduced to approximately 1/4 of the speed when traveling straight.

In other words, the left and right hydraulic motors 13a and 13b are operated so as to drive both the left and right running crawlers 2a and 2b in opposite directions and to reduce the running speed of the re-running crawler to approximately 1/4 of the speed when traveling straight. Control valves 14a, 14 are sent from the central controller 31 to reduce the rotation direction and rotation speed, respectively.
Output signals each having a predetermined target value are sent to the solenoids 40 and 41 of b.

For example, when an operator presses the interlining rotation switch 30 and tilts the operating lever 17 toward the left at an appropriate angle in order to rotate the interlining to the left, the operating lever 17 at the straight-ahead vehicle speed
A proportional function f proportional to the output SP of the vehicle speed potentiometer 23 corresponding to the inclination angle of
l (SP) is calculated (in some cases, it may have already been obtained), and when the output value (TP) of the turning potentiometer 26 corresponding to the horizontal inclination angle of the operating lever L7 is calculated, it is proportional to this output TP. Proportional function f4 (TP)
The right target value R3 of the output signal to be sent to the right control valve 14b corresponding to the outside of the turn is determined by calculating and using these proportional functions.
= f4 (TP) xfl (SP) and the left target value L3 of the output signal sent to the left control valve 14a corresponding to the inside of the turn.
=-R3 is calculated and outputted by the central control device 31.

The degree of deceleration is set to increase as the angle of inclination of the operating lever 17 to the left and right increases.

Note that when the interlining rotation switch 30 is changed from ON to OFF, the intermediate speed obtained by adding the vehicle speed when the interlining rotation switch 30 is ON to the vehicle speed when it is OFF and dividing the sum by 2 is calculated for an appropriate time (implementation). In the example, after it lasts for about 6/10 seconds,
The vehicle speed is controlled to be the same as when it is OFF.

Further, when the interlining rotation switch 30 is turned on and the operating lever 17 is not tilted left or right,
The speed of both left and right crawlers 2.2 is approximately 1/ of the current speed when traveling straight.
It is a vehicle that travels straight with a large deceleration of about 4 degrees.

In each manual vehicle speed control, the sub-shift switch 32 is turned on.
For example, the speed can be reduced to approximately 1/2 of the speed in the OFF state.

If the answer is yes (vehicle speed switch 33 is ON) in step 31 of FIG. 8, the vehicle speed control subroutine is entered (step S3).

FIG. 10 shows the vehicle speed control subroutine, and shows whether the output value of the vehicle speed potentiometer 23 has changed in step P1 (in other words, the longitudinal rotation (inclination) angle of the operating lever 17 has changed due to the operator's operation). Determine whether or not.

When the determination is YES in step P1, the manual vehicle speed subroutine is executed in order to give priority to the result of the rotational operation (manual) of the operating lever 17 (step P2).

If no in step P1 (no change in the longitudinal rotation (inclination) angle of the operating lever 17), step P1
In Step 3, it is determined whether or not the interlining turning switch 3o is turned ON. If yes (the interlining turning switch 30 is ON), interlining turning vehicle speed control (step P4) described below is performed.
is executed, and if no (interlining rotation switch 30 is 0FF), the rotation potentiometer 2 is turned on in the next step P5.
6 is in the straight-ahead zone (left/right rotation (tilt) of the operating lever 17)
It is determined whether the angle (θ2) is within a predetermined slight range), and if yes (within the straight-ahead zone), the straight-ahead vehicle speed control (step P6) described later is executed, and no (outside the straight-ahead zone). At this time, turning vehicle speed control (2) (step P7), which will be described later, is executed.

[Straight vehicle speed control ■ (Step P6)] In this state, the interlining rotation switch 30 is OFF,
The current vehicle speed at which the operator releases the operating lever 17 is maintained.

In vehicle speed control, the output (load) of the engine 11 is detected by an electronic governor (not shown), and if there is surplus power in the load, the fuel supply amount (injection amount) is increased to achieve a predetermined output (e.g. Increase the engine speed so that it reaches the rated output. This increases the rotational speed of the left and right hydraulic pumps, and also increases the rotational speed of each hydraulic motor. On the other hand, when a large load is applied to the engine, the engine speed is reduced to a predetermined load (output) and the speed of the vehicle is controlled to reduce the rotation speed of each of the hydraulic motors.

In this case, since it is straight-line control, both the left and right crawlers'
The control valve 14a is sent from the central controller 31 to drive the left and right hydraulic motors 13a and 13b in the same direction and to match the rotational speed so that the left and right hydraulic motors 13a and 13b are driven in the same direction and their running speeds are the same.

Output signals each having a predetermined target value are sent to the solenoids 40, 41 of 14b.

This target value is determined from the current engine load state, and the numerical value f6 (engine load) related to the engine load is stored in a map or function table set in advance in the storage section of the central control device 31. and select the right control valve 14.
The central controller 31 calculates and outputs the right target value R4-f6 (current engine load) of the output signal sent to the left control valve 14a and the left target value L4-R4 of the output signal sent to the left control valve 14a. .

[Turning vehicle speed control (Step P7)] In this control, when the operator tilts the operating lever 17 to the right, the vehicle turns to the right, and when the operator tilts the control lever 17 to the left, the vehicle turns to the left. and,
The speed at the time of turning is set to be reduced to approximately 1/2 of the current vehicle speed (vehicle speed that optimizes the engine load) forward speed v3.

In other words, both the left and right running crawlers 2a and 2b are driven in the same direction, and the running speed of the running crawler on the outside of the turn is reduced to approximately 1/2 of the speed when traveling straight, while at the same time the speed of the running crawler on the inside of the turn is reduced. In order to reduce the rotational speed of the left and right hydraulic motors 13a and 13b so as to further reduce the speed at the outer side of the turn, the central controller 31 applies predetermined target values to the solenoids 40 and 41 of the control valves 14a and 14b, respectively. It sends an output signal with

In this case, the numerical value f6 (
While calculating the current engine load), the operation lever 17
When the output value (TP) of the turning potentiometer 26 corresponds to the horizontal inclination angle of , right target value R5=f7 of the output signal sent to the right control valve 14b corresponding to the outer side of the turn.
(TP) Xf6 and left control valve 1 corresponding to the inside of the turn
Left target value L5 of the output signal sent to 4a = R5xf8 (
TP) is calculated and output by the central control unit 31.

In this case, the proportional function f8 (TP) is set to further reduce the speed on the inside of the turn than the speed on the outside of the turn. Further, as can be understood from these functional relationships, when the turning angle is small, that is, the tilt angle θ2 of the operating lever 17 to the right or left is large, the speed of the running crawler on both the left and right sides is reduced more. This ensures that running stability is not compromised when making tight turns.

When the turning direction is opposite to the above, the relationship between the right and left target values of the output signal is reversed.

Note that when the operating lever 17 is switched from left to right or from right to left, the turning direction is changed for an appropriate period of time (0.5 in the embodiment) without suddenly performing turning control in the opposite direction.
seconds) - output value for straight vehicle speed control is provided to ensure W4 longitudinal safety.

[Interlining rotation control (Step P4)] In this control, if the operating lever 17 is tilted to the right or left while the interlining rotation switch 30 is turned on, so-called interlining rotation is executed.

For example, when the operating lever 17 is appropriately tilted to the right, the left and right hydraulic motors rotate forward and backward so that the right crawler 2 on the inner side of the turn moves backward and the left crawler 2 on the outer side of the turn moves forward.

On the other hand, when the vehicle is appropriately tilted forward and tilted to the left, the left and right hydraulic motors rotate in forward and reverse directions so that the left crawler 2 on the inner side of the turn moves backward and the right crawler 2 on the outer side of the turn moves forward. .

In this case, the speed of both the left and right running crawlers 2.2 is greatly reduced to approximately 1/4 of the speed when traveling straight.

In other words, the left and right hydraulic motors 13a and 13b are operated so as to drive the left and right crawlers 2a and 2b in opposite directions, and to reduce the traveling speed of both crawlers to about 1/4 of the speed when they are currently traveling straight. The control valves 14a, 14a,
Output signals each having a predetermined target value are sent to the solenoids 40, 41 of 14b.

For example, when an operator presses the interlining rotation switch 30 and tilts the operating lever 17 toward the left at an appropriate angle in order to rotate the interlining to the left, the function f6 related to the engine load in the current straight-ahead state is calculated. On the other hand, the output value (TP) of the turning potentiometer 26 corresponding to the horizontal inclination angle of the operating lever 17
Then, a proportional function f9 (
TP), and using these functions, the right target value R of the output signal sent to the right control valve 14b corresponding to the outside of the turn.
6=f6Xf9 (TP) and the left target value L6=-R6 of the output signal to be sent to the left control valve 14a corresponding to the inner side of the turn, are calculated and output by the central controller 31.

It is preferable to set the function so that the degree of deceleration increases as the angle of inclination of the operating lever 17 to the left and right increases.

When the interlining rotation switch 30 is changed from ON to OFF, the intermediate speed obtained by adding the vehicle speed when the interlining rotation switch 30 is ON to the vehicle speed when it is OFF and dividing the sum by 2 is calculated for an appropriate time (in the embodiment). (approximately 6/10 seconds) and then turns off
The vehicle speed is controlled so that the vehicle speed is as follows.

In each of the above-mentioned controls, when the sub-shift switch 32 is turned on, the speed can be reduced to approximately 1/2 of the speed when it is turned off, for example.

Furthermore, when the automatic steering switch 34 is turned on, the left shell culm sensor 36 and the right shell culm sensor 37 installed on the front end of the harvesting pre-treatment device W4 of the combine 1 on the left and right sides of the cutting body are used to control the planted husks in the field. FIG. 11 shows a flowchart of automatic steering for performing reaping and threshing work while detecting the distance to the culm row and steering along the culm row.

In this case, steering is also performed from the central control device 31 to the control valve 14a,
Output signals having predetermined target values are sent to the solenoids 40 and 41 of the left and right hydraulic motors 13a and 13b, respectively.
The left and right traveling crawlers 2a,
This is done by changing the speed of 2b.

In this case, when the operating lever 17 is set to the backward tilting zone (retreat zone), when the operating lever is tilted left and right to rotate (swivel zone), or when the interlining rotation switch 30 is turned on, the steering control is canceled. Ru.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and FIG. 1 is a plan view of the combine harvester, FIG. 2 is a side view, FIG. 3 is a schematic diagram of the drive transmission system of the traveling crawler, and FIG. 4 is a perspective view of the operating lever. 5 is a side view, FIG. 6 is a plan view, FIG. 7 is a block diagram of the control circuit, and FIGS. 8 to 11 are flowcharts. 1... Traveling machine body, 2a, 2b... Traveling crawler, 3... Grain blocking device, 4... Reaping pre-processing device, 5
...Feeder house, 7...Brat home, 8...Rake auger, 9...Reel, 11
...Engine, 12a, 12b...-Hydraulic pump, 13a. 13b...hydraulic motor, 14a, 14b...control valve, 17...operation lever, 23...vehicle speed potentiometer, 26...swivel potentiometer, 3
゜...Interlining rotation switch, 31...Central control device.

Claims (1)

[Claims] (1) The traveling work machine is configured such that power is transmitted to a pair of left and right traveling crawlers by separate left and right hydraulic drive means each consisting of a hydraulic pump and a hydraulic motor, and the number of rotations of the left and right hydraulic motors is In a traveling working machine configured to control the rotational direction, a single manual operation lever provided on the traveling working machine is configured to be tiltable in the front-rear direction and the left-right direction, and The operation lever is provided with an interlining rotation switch, and in response to signals from the tilting operation of the operation lever and the operation of the interlining rotation switch,
A control means is provided to switch the traveling working machine between straight movement, left-right rotation, and interlining rotation, and the running speed of both the left and right crawlers is determined by the longitudinal tilt position of one operating lever, and the left-right tilt position of the operating lever is to determine the degree of turning to the right or left,
Furthermore, by tilting the operating lever left and right while pressing the interlining rotation switch provided on the operating lever, each signal for rotating the interlining will be output, and at the same time the rotation speed of each hydraulic motor will be adjusted depending on the degree of rotation when moving in a straight line. A steering control device for a traveling working machine, characterized in that it is configured to output a signal that is appropriately reduced compared to the current signal.