JPH03143786A - Running device for combine and the like - Google Patents

Abstract

PURPOSE:To ensure stable control by comparing the lateral inclining speed in the lateral direction of a vehicle body with the longitudinal inclining speed in the longitudinal direction, and giving a priority to rolling control by the larger lateral inclining speed or pitching control by the larger longitudinal inclination. CONSTITUTION:In a combine, a lateral pair of crawler frames 6 are raised and lowered independently by a rolling hydraulic cylinder 2 and a rolling link mechanism 3. A vehicle body 10 supported on a pitching frame 1 is vertically rotated with either one of front and rear end parts as a support point by a pitching hydraulic cylinder 8 and a pitching like mechanism 9. In this case, the inclining speeds in lateral direction and longitudinal direction of the vehicle body 10 are detected and compared to each other, and rolling control by the larger lateral inclining speed or pitching control of the larger longitudinal inclination are preferentially conducted. Hence, the mixture and turbulence of rolling control and pitching control is prevented, and stable control is ensured.

Description

[Detailed Description of the Invention] (Industrial Application Field) This invention relates to a traveling device such as a combine harvester.
It can be used for mobile agricultural machinery and construction machinery such as combine harvesters and transport vehicles that have crawler-type running devices.

(Prior Art and Problems to be Solved by the Invention) In a combine harvester, in order to maintain the vehicle body in a horizontal position at all times, the horizontal and longitudinal inclinations are automatically controlled by rolling control and pitching control. ing. In combine harvester traveling devices that perform both rolling control and pitching control, the vehicle body often tilts in the left-right direction and the front-back direction at the same time, and based on this, rolling control and pitching control are intersected. control may be difficult to converge.

This invention eliminates these deficiencies.

For this reason, when the vehicle body tilts both left and right and front and rear at the same time, rolling control is applied to the slope on the side where the slope speed is faster.
Or by giving priority to pitching control,
This is intended to stabilize control. In this invention, the tilting speed refers to the tilting speed or the tilting acceleration.

(Means for Solving the Problems) The present invention provides a vehicle body that performs rolling control that changes the inclination angle in the left-right direction and pitching control that changes the inclination angle in the front-rear direction for a pair of left and right crawlers. A combine harvester, etc., characterized in that the left-right tilting speed in the left-right direction of the vehicle body and the longitudinal tilting speed in the front-rear direction are compared, and priority is given to rolling control based on the larger left-right tilting speed or pitching control based on the longitudinal tilting. This is the configuration of the traveling device.

(Function) The vehicle body, which is driven by a pair of left and right crawlers, is affected by changes in the ground it travels on or the depth of the soil plow.

When the vehicle is tilted to the left or right by a certain amount or more, the height relationship between the crawler and the vehicle body is changed, and the vehicle body is controlled to roll horizontally. Furthermore, when the vehicle body is tilted forward or rearward beyond a certain level, the height relationship between the crawler and the vehicle body is changed, and the vehicle body is controlled to be pitched in a longitudinally horizontal position.

When a left-right tilt and a front-back tilt of the vehicle body occur, depending on the order of these events, for example, if the front-rear tilt occurs before the left-right tilt, pitching control is performed and then rolling control is performed. However, when these lateral and longitudinal inclinations occur at the same time, when comparing the lateral and longitudinal inclination speeds of the vehicle body, control is given priority to the side with higher inclination speed. For example, when the left-right tilt speed is higher than the front-rear tilt speed, rolling control using the left-right tilt is performed, and then pitching control using the front-rear tilt is performed. Here, the tilt speeds are compared between tilt speeds or tilt accelerations.

(Effects of the Invention) The present invention prioritizes rolling control or pitching control of the vehicle body with a higher tilting speed by comparing the left-right tilting speed in the left-right direction and the longitudinal tilting speed in the longitudinal direction. Even if the vehicle body is tilted horizontally and longitudinally at the same time, the rolling control and pitching control caused by the tilting are performed in an orderly and speedy manner without being confused and disturbed, and stable control can be maintained.

(Example) An example of the present invention will be described based on one drawing. On both left and right sides of the pitching frame 1, there are a pair of left and right crawler frames having rolling wheels 5 on which each crawler 4 is stretched by a rolling hydraulic cylinder 2 provided on the pitching frame 1 and a rolling link mechanism 3 that moves up and down in parallel. 6, each of which can be raised and lowered independently, and on the upper part of the pitching frame 1, the other end can be moved up and down around a pitching shaft 7 on one end of the front and rear,
Further, a vehicle body 10 having a pitching hydraulic cylinder 8 and a pitching link mechanism 9 for this vertical movement is provided.

The pitching frame 1 integrally connects a pair of left and right vertical frames 11 with front and rear connecting frames 12, and further connects the front ends of the vertical frames 11 with a pitching shaft 7,
The rear ends are connected by a rolling arm shaft 13. Rolling arms 14 and 15 forming a pair of left and right rolling link mechanisms 3 are rotatably provided on the front and rear pitching shafts 7 and rolling arm shaft 13. The front and rear sides of the crawler frame 6 are pivotally connected to the lower ends of the left and right front and rear rolling arms 14 and 15 through pivot shafts 16° and 17, and are attached to the bracket 18 that protrudes above the front of the pitching frame 1. The hydraulic piston 19 of the rolling hydraulic cylinder 2 is connected to the upper end of this rear rolling arm 15, and by the expansion and contraction of the 200-ring hydraulic cylinder 2,
The left and right crawler frames 6 are configured to move up and down with respect to the pitching frame 1. 2o is a rod for connecting and interlocking the front and rear rolling arms 14, 15.

Each of the left and right crawler frames 6 is provided with a transfer 5 on which the crawler 4 is stretched. This transfer 5 is provided with sprocket transfers 21 and 22 at the front and rear intermediate portions and at the rear end, and is engaged with a drive hole provided along the central portion of the crawler 4 to guide and rotate it. Of these, the sprocket transfer 22 at the rear end is provided on a guide frame 24 and a tension rod 23 that extend and contract back and forth with respect to the rear end of the crawler frame 6, and constantly tensions the crawler 4 by adjusting the extension and contraction of the tension rod 23. It is structured as follows.

A rotary boss 25 is provided on the front pitching shaft 7 of the vertical frame 11 of the pitching frame 1 and is rotatable around the pitching shaft 7. A bracket 26 at the front end of the vehicle body 10 is connected to this rotary boss. It has an oval shape that can be attached and detached with bolts, nuts, etc.

The vehicle body 10 is configured to be vertically movable around the pitching shaft 7. Further, a link pin 27 is provided on the rear portions of the left and right vertical frames 11 of the pitching frame 1, and a link 28 of the pitching link mechanism 9 provided on the vehicle body 10 is provided.
The distal end of the holder is rotatably fitted and supported.

The vehicle body 10 is mainly composed of a pair of left and right vertical frames, which are connected by horizontal frames 29 at a suitable number of places in the front and rear to form an integral structure, and a sprocket shaft 31 of a drive sprocket 30 is connected to the front end by a bracket 26. The structure is such that an axle housing 32 covering the bearing is attached and supported.

The pitching link mechanism 9 provided in the vehicle body 10 includes a pair of left and right arm links 34 that are rotatable around a pitching arm shaft 33 at the rear, and is pivotally connected to one tip of the arm links 34 by a pivot pin 35. It consists of a link 28 and an arm 36 that rotates together with these arm links 34. This arm 36 is connected to a hydraulic piston 37 of a pitching hydraulic cylinder 8 attached to the vehicle body 10, and the hydraulic pressure of this pitching hydraulic cylinder 8 is controlled. By rotating the link 28 around the link pin 27 of the pitching frame 1 through expansion and contraction, the vehicle body 10 is moved up and down around the pitching shaft 7 using these links 28 and the arm link 34.

Each of the rolling arms 14 and 15 provided at the front and rear of the pitching frame 1 has an inner arm 38 formed in a crank shape when viewed from the front, and an outer arm 39 shaped like a plate.
o to form an integral structure, and the ends of the rolling arm shafts 7, 13 are rotatably provided between the middle part of the inner arm 38 and the tip of the outer arm 39 with collars 41 and 42 interposed therebetween. There is. Vertical frame 11 is this color 4
1 is fixed and provided so as to be located within the interval between both the inner and outer arms 38 and 39 together with the vehicle body 10 located above the rolling arm shafts 7 and 13. The crawler frame 6 is provided at the lower end of the inner arm 38 by a pivot shaft 16.17.
It is located and attached to the outside of this rolling arm 14,15.

The vehicle body 10 has a horizontal frame 29 on the upper side, and a vertical frame 43 that extends from both left and right lateral ends of the horizontal frame 29 back and forth, and on the upper side, for example, in the case of a combine harvester, a threshing device, an engine, a control device, etc. are installed. It is equipped with a structure that supports the reaping device.

Reference numeral 44 denotes a transmission case housing a traveling transmission device for transmitting the drive sprocket 30, and is integrally attached to the front end or rear end of the vehicle body 10 via a bracket 26° 45, an axle housing 32, etc.

The crawler 4 has this driving sprocket 30 and each roller 5.
It is possible to rotate and travel by driving the drive sprocket 3o. The bracket 26 of the vehicle body 10 positions the sprocket 30 in front of the frontmost roller 5 and moves up and down around the pitching axis 7 due to pitching of the vehicle body 10, but maintains the tension drive of the crawler 4. It is composed of 46 is the exhaust pipe of the engine, and 47 is its muffler cover.

The control configuration of the traveling device will be explained with reference to FIGS. 8 and 9. A hydraulic circuit for a hydraulic pump P that hydraulically operates the rolling hydraulic cylinder 2, the pitching hydraulic cylinder 8, and the reaping vertical cylinder 48 that moves the reaping device up and down with respect to the vehicle body 10 is provided as shown in FIG. Reaping upper and lower cylinder 48
The hydraulic circuit is provided with four upper reaping control valves for raising the reaping, a lower reaping control valve 50 for lowering the reaping, etc., so as to be operated electromagnetically. A pitching control valve 51 is provided in the hydraulic circuit of the pitching hydraulic cylinder 8 for switching to rotate the vehicle body 10 around the pitching shaft 7 to pitch the vehicle body 10 in a rearward downward direction, or vice versa. and check valves 70, 71, etc. are provided. Further, the hydraulic circuits of the pair of left and right rolling hydraulic cylinders 2 are each provided with a rolling control valve 52, a check valve 72, etc., and are switched to vertically move the left or right crawler frame 6 independently or simultaneously. 53 is an unload valve.

In FIG. 9, a controller 54 having a microcomputer includes a manual tilt lever switch 5 on the input side.
The lever switch 55 and the manual tilting lever are provided in the control device, and by tilting by operating the manual tilting lever, each tilting lever switch is turned on depending on the tilting direction, and the pitching control valve 51 and the rolling control are performed. The valve 52 is switched to perform a pitching operation on the vehicle body 10, and the crawler frame 6 on the left or right side is moved up and down to perform a rolling operation.

Further, the vehicle height up/down lever switch 56 and the vehicle height up/down lever for switching this up/down lever switch 56 are provided in the control device, and when the up/down lever switch 56 is operated to raise the vehicle height, the left and right rolling control valves 52 are activated. When the vehicle height is switched to the raising side to raise the vehicle height, and when the vehicle height is lowered to the lowering side, the left and right rolling control valves 52 are switched to the lowering side and output is controlled to lower the vehicle height.

Moreover, the reaping lever switch 57 is connected to the reaping vertical control valve 49.
50, the upper reaping control valve 49 controls the reaping device upward, and the upper reaping control valve 5o controls the reaping device downward.

The vehicle body horizontal switch 58 controls the left and right rolling of the pitching frame 1, the front and rear pitching control, and the like. The culm sensor 59 detects that the culm is being harvested by the reaping device, and the longitudinal inclination sensor 6 causes the above-mentioned controls to be performed.
0, a left/right tilt sensor 61, and each of these stroke sensors 62°63.64 are provided. Each tilt sensor 6o, 6
1, stroke sensors 62, 63, 64, etc., are provided with sensitivity changing means 65 for changing their sensitivities.

Regarding the pitching control of the vehicle body 10, when the longitudinal inclination sensor 6o detects the inclination of the vehicle body 1o in the longitudinal direction, the pitching control valve 51 is thereby switched to rearward or rearward, and the pitching hydraulic cylinder 8 is expanded and contracted to control the pitching. A longitudinal stroke sensor 62 provided in the hydraulic cylinder 8
By detecting and performing feedback control, the vehicle body 1
o is controlled and maintained in a horizontal state longitudinally.

Regarding the rolling control of the pitching frame 1, the left rolling control valve 52. Alternatively, the right rolling control valve 52 is switched to expand and contract the left and right rolling hydraulic cylinders 2, and the amount of expansion and contraction of each rolling hydraulic cylinder 2 is detected by the left and right stroke sensors 6.
The pitching frame 1 is controlled and maintained in the left-right horizontal state by performing feedback control while detecting the pitching frame 1 at 3 and 64.

Further, the height control of the pitching frame 1 is performed simultaneously with or in priority to these rolling controls, and the left and right rolling control valves 52 and the rolling control are controlled by a height sensor that detects the height of the pitching frame 1 relative to the soil surface. The hydraulic cylinder 2 is controlled to expand and contract to maintain a constant height. Note that the height sensor may calculate the height based on the average value obtained by the stroke sensors 63 and 64 for rolling control.

The controller 54 that detects and inputs the longitudinal inclination sensor 60 and the lateral inclination sensor 61 includes each of these sensors 6.
A tilt acceleration calculation device 66 or an accelerometer is provided as a means for detecting the tilt acceleration based on the data input from 0 and 61, and the vehicle body 10 calculated by the tilt acceleration calculation device 66 is provided. Compare the acceleration in the longitudinal direction and the acceleration in the left-right direction.

In this manner, control is performed based on the larger longitudinal tilt acceleration and lateral tilt acceleration calculated and compared by the tilt acceleration calculation device 66.

This is performed preferentially via the sensitivity changing means 65. That is, when the longitudinal inclination sensor 60 detects the front downward slope of the vehicle body 10 and the left/right inclination sensor 61 detects the left downward slope of the vehicle body 10 at the same time, the slope acceleration calculating device 66 calculates the forward downward slope determined by the longitudinal slope sensors 6o. The acceleration of the left downward slope measured by the left and right slope sensor 61 is compared.

As a result of this comparison 1, for example, when the acceleration of the forward downward slope detected by the longitudinal slope sensor 60 is large, the sensitivity changing means 65 outputs pitching control with priority over rolling control. As a result, the vehicle body 10 in the forward downward direction is returned to the longitudinal horizontal position by the pitching control, and then the lower left vehicle body 1o is returned to the horizontal horizontal position by the rolling control.

Although the tilt acceleration calculation device 66 is configured to compare the acceleration of the tilt of the vehicle body 10, it is also possible to simply provide a speedometer or a speed calculation device that detects the tilt speed of the vehicle body 10 and compare the tilt speeds. You may do so.

Furthermore, although the configuration is such that the control output is performed through the sensitivity changing means 65, it may be configured to go through a simple priority circuit. The sensitivity changing means may be controlled by the controller 54, such as by changing the pulse output, or by changing the variable flow rate valve in accordance with the tilt acceleration.

[Brief explanation of the drawing]

The figures show one embodiment of the present invention, in which Fig. 1 is a side view of the traveling device, Fig. 2 is an exploded side view thereof, Fig. 3 is a plan view, and Fig. 4 is a section shown in Fig. 1 in the direction of the ■ arrow. 1. is a front sectional view, and FIG. 5 is a side view of a part of it. FIG. 6 is a front sectional view of the section viewed from arrow 1 in FIG. 1, FIG. 7 is a side view thereof, FIG. 8 is a hydraulic circuit diagram, and FIG. 9 is a control block diagram. Explanation of symbols 1 Pitching frame 2 Rolling hydraulic cylinder 3 Rolling link mechanism 4 Crawler 5 Rolling wheels 6 Crawler frame 7 Pitching shaft 8 Pitching hydraulic cylinder 9 Pitching link mechanism 10 Vehicle body 60 Longitudinal inclination sensor 61 Lateral inclination sensor 66 Inclination acceleration calculation device

Claims (1)

[Claims] In a vehicle body that performs rolling control that changes the tilt angle in the left and right direction for a pair of left and right crawlers, and pitching control that changes the tilt angle in the front and rear direction, the left and right tilt speed of this vehicle body in the left and right direction and the longitudinal direction A traveling device for a combine harvester or the like, characterized in that rolling control based on a larger left/right tilting speed or pitching control based on a longitudinal tilting is prioritized by comparing longitudinal and longitudinal tilting speeds of the two.