JPH03143787A - Running device for combine and the like - Google Patents

Abstract

PURPOSE:To enable the stable running and working by automatically changing the sensitivity of each control according to the fluctuation of running conditions in a cone in which a vehicle body is laterally inclined to a crawler (rolling control) or longitudinally inclined (pitching control). CONSTITUTION:On both left and right side parts of the pitching frame 1 of a combine, a lateral pair of crawler frames 6 having rolling wheels 5 having a multiple crawler 4 wound thereon are provided in such a manner as to be capable of being independently raised and lowered by a rolling hydraulic cylin der 2 and a rolling link mechanism 3 raised and lowered in parallel. On the upper part of the pitching frame 1, a vehicle body 10 having either of the front or rear end part side vertically rotatable around a pitching shaft 7 on the other end side, and the vertical rotation is conducted by a pitching hydraulic cylinder 8 and a pitching link mechanism 9. In this case, at the time of vehicle running, the sensitivity of rolling control or pitching control is automatically changed according to the detection result of the fluctuation of the running conditions of the vehicle.

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 such as combine harvesters and transport vehicles that have crawler-type running devices, and for construction machinery.

(Prior Art and Problems to be Solved by the Invention) A combine harvester generally has a crawler-type traveling device, which makes it easier to travel through soft agricultural fields. However, combine harvesters are prone to subsidence or inclination of the vehicle body depending on soil conditions, the amount of paddy harvested, etc. Therefore, in order to maintain the vehicle body horizontally, the vehicle body may be tilted to the left or right with respect to the crawler. 1. Rolling control for tilting in the longitudinal direction, pitching control, etc. are automatically performed, but it is difficult to perform these controls uniformly with the same sensitivity at any time, due to the vehicle body. Functions of working equipment and.

It is difficult to maintain safety such as the vehicle body posture itself.

This invention eliminates these deficiencies.

The purpose is to perform stable traveling work by automatically changing and controlling the sensitivity of rolling control or pitching control in accordance with changes in the traveling conditions of the vehicle body.

(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 traveling device such as a combine harvester is configured to automatically change the sensitivity of the rolling control or pitching control by detecting changes in traveling conditions in the vehicle body.

(Function) The vehicle body is driven by a pair of left and right crawlers.
When the vehicle is tilted to the left or right due to the running surface or an external force, rolling control changes the left and right tilt angle of the vehicle relative to the crawler, maintaining the vehicle in a horizontal position on the left and right, and the vehicle also tilts forward and backward. When the vehicle is tilted, pitching control changes the longitudinal inclination angle of the vehicle body with respect to the crawler, and the vehicle body is maintained in a horizontal posture front and rear.

In such rolling control or pitching control, the sensitivity of these controls is automatically changed when the running conditions of the vehicle body change beyond a certain level.

(Effects of the Invention) Since the present invention automatically changes the sensitivity of rolling control or pitching control in response to fluctuations in control conditions, it is possible to safely control work and the running posture of the vehicle body. It is possible to maintain the vehicle within the range, and since it is automatic, accurate control and driving operability can be facilitated.

(Example) An example of the present invention will be described based on FIGS. 1 to 9. A rolling hydraulic cylinder 2 provided on the pitching frame 1 and a rolling link mechanism 3 that ascends and descends in parallel are provided on both left and right sides of the pitching frame 1.
A pair of left and right crawler frames 6 each having a transfer 5 on which each crawler 4 is stretched are provided so that they can be raised and lowered independently, and
On the upper part of this pitching frame l, the other end can be moved up and down about the pitching shaft 7 on either the front or rear end side, and a pitching hydraulic cylinder 8 and a pitching link mechanism 9 are installed for this vertical movement. A vehicle body 10 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 each of the left and right front and rear rolling arms 14 and 15 through pivot shafts 16° and 17, and are attached to a 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 the rear rolling arm 15, and by the expansion and contraction of the rolling hydraulic cylinder 2,
The left and right crawler frames 6 are configured to move up and down with respect to the pitching frame 1. 20 is a rod for connecting and interlocking the front and rear rolling arms 14 and 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 wheels 21 and 22 at the front and rear intermediate parts and at the rear end, and is engaged with a drive hole provided along the center part of the crawler 4 to guide and rotate it. Among these, the sprocket roller 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 the crawler 4 is constantly tensioned 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 is configured to be detachable using 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 rear pitching arm shaft 33, and a link that is pivotally connected to the tip of the arm link 34 by a pivot pin 35. 28, and an arm 36 that rotates integrally 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 expansion and contraction of this pitching hydraulic cylinder 8 is performed. By rotating the link 28 around the link pin 27 of the pitching frame 1, 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.
0 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 positioned within the space between the inner and outer peripheral 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 extending from both left and right lateral ends of the horizontal frame 29 back and forth. 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 1o via a bracket 26° 45, an axle housing 32, etc.

The crawler 4 has this driving sprocket 3o and each transfer sprocket 5.
It is possible to rotate and travel by driving the drive sprocket 30. 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 shaft 7 due to pitching of the vehicle body 1o, 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 an upper reaping control valve 49 for raising the reaping, an upper reaping control valve 5o for lowering the reaping, etc. so as to be operated electromagnetically. The hydraulic circuit of the pitching hydraulic cylinder 8 includes a pitching control valve 51 for switching the vehicle body 10 to rotate the vehicle body 10 around the pitching shaft 7 in a rearward downward pitching direction, or vice versa. and check valves 70, 72, 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 one 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 operating the manual tilting lever, each tilting lever switch is turned ONL depending on the tilting direction.

The pitching control valve 51 and the rolling control valve 52 are switched and output so that the vehicle body 10 is pitched and the left or right side crawler frame 6 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 the up/down lever switch 56 are provided in the steering 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. is switched to the raising side to raise the vehicle height, and when the vehicle height is lowered to the lower side, the left and right rolling control valves 52 are switched to the lowering side and a control output is provided 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.
o, left and right tilt sensor 61. Each of these stroke sensors 62°63.64 is 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 10 in the longitudinal direction, the pitching control valve 51 is switched to the rear upper or rear ball position, the pitching hydraulic cylinder 8 is expanded and contracted, and this pitching is controlled. A longitudinal stroke sensor 62 provided in the hydraulic cylinder 8
By detecting and performing feedback control, the vehicle body 1
0 is controlled and maintained in a horizontal state in both the front and rear directions.

For rolling control of the pitching frame 1, when the left and right tilt sensor 61 detects the left and right tilt of the vehicle body 10 or the pitching frame 1, the left and right rolling control valves 52 and 52 are switched to control the left and right rolling hydraulic pressure. The cylinders 2 are expanded and contracted, and the left and right stroke sensors 6 measure the amount of expansion and contraction of each rolling hydraulic cylinder 2.
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 expands and contracts the rolling hydraulic cylinder 2 to maintain it at a constant height. The height sensor may calculate the height based on the average value obtained by the stroke sensors 63 and 64 for rolling control.

For combine harvesters, the causes of fluctuations in running conditions include:
This is due to an increase or decrease in the amount of paddy in the paddy tank mounted on the car body 10, a large or small inclination angle of the car body 10 in the longitudinal direction or left and right direction, or a high rotational speed of the handling barrel of the threshing device or the engine. , depending on the frequency of rolling control, pitching control, etc.

In combine harvesting operations, as the amount of paddy increases, the weight of the vehicle increases, and the balance of the vehicle body is likely to be lost, causing a sudden tilting of the machine body. Therefore, by sharpening the control sensitivity as the amount of paddy increases, the ability to follow the slope is stabilized, and when there is no paddy, the discomfort caused by reacting too sensitively can be reduced.

Therefore, in the case of the method based on the amount of paddy in the paddy tank, as shown in FIG. The sensitivity changing means 65 of the controller 54
In conjunction with this, as the amount of paddy decreases, control sensitivity such as rolling control and pitching control is automatically reduced,
Moreover, when the amount of paddy increases, control is performed to make the control sensitivity more sensitive.

If the control speed is constant, when the angle of inclination of the vehicle body increases, it takes a long time for the vehicle body to return to a horizontal position due to rolling control, etc., resulting in a control delay. Therefore, as the angle of inclination of the vehicle body increases, the control speed is increased to prevent control delays. The control sensitivity changing means 65 for changing the control speed may be controlled by the controller 54, such as changing the pulse output, or changing the flow rate changing valve by changing the inclination angle.

In FIG. 10, there is a longitudinal inclination sensor 60 for detecting the longitudinal inclination angle of the vehicle body 1o, a lateral inclination sensor 61 for detecting the lateral inclination angle, and the like.

In conjunction with the sensitivity changing means 65 of the controller 54, when the inclination angle of the vehicle body 1o in the longitudinal direction or the lateral direction increases, the speed of pitching control or rolling control based on this increases, and vice versa. When the corner becomes smaller, the system automatically controls the speed to return from high speed to low speed.

When there are many fluctuations in the threshing rotation speed or the engine rotation speed during combine harvester operation, it can be determined that the threshing load and running load are increasing, and that the engine horsepower is running out of surplus power. At this time, if the car body control is performed frequently, the loss of horsepower of the engine will further increase, leading to a sudden decrease in the threshing rotation and resulting in poor sorting.

Therefore, when there are many fluctuations in the threshing rotation speed or engine rotation, such problems can be solved by reducing the sensitivity of the control and suppressing frequent control operations.

The control sensitivity may be reduced by a mode in which pitching control or rolling control is independently given priority, or a mode in which opening control is performed simultaneously.

In FIG. 11, the sensitivity changing means 65 of the controller 54 inputs the input from the rotation sensor 67 that detects the rotation speed of the handling drum of the threshing device on the car body 10 or the rotation speed of the engine.
In conjunction with this, the control sensitivity of rolling control and pitching control is reduced when there are many fluctuations in the high and low detection values of this rotation sensor 67.

On the other hand, when the fluctuation is small, the control sensitivity is automatically controlled to be made more sensitive and restored.

If the horizontal control of the vehicle body is operated frequently during combine harvester operation, the operator will feel more uncomfortable and the durability of each operating part will deteriorate. Therefore, if the frequency of control operations is too high,
This problem can be resolved by widening the dead zone and reducing the number of control operations.

This dead band change may be performed in a form in which rolling control and pitching control are performed independently, or in a form in which rolling control and pitching control are performed in combination.

In FIG. 12, the controller 54 includes an operation frequency calculation device I! which calculates the frequency of opening and closing operations of the pitching control valve 51, the rolling control valve 52, etc. 68 and a dead band changing means 69 for changing a dead band which is a neutral position in rolling control or pitching control.
When the frequency of rolling control or pitching control increases, the dead band changing means 69 automatically controls the rolling control or pitching control.

The dead band of these corresponding controls is widened, and conversely, when the frequency of control decreases, the dead band is automatically controlled to return from a wide range to a narrow one.

[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. Fig. 5 is a side view of a part of it, Fig. 6 is a front sectional view of the part shown in Fig. 1 in the direction of the ■ arrow, Fig. 7
8 is a hydraulic circuit diagram, FIG. 9 is a control block diagram, and FIGS. 10 to 12 are control block diagrams showing partially different embodiments. Explanation of symbols 1 Pitching frame 2 Rolling hydraulic cylinder 3 Rolling link mechanism 4 Crawler 56 rolling wheels 6 Crawler frame 7 Pitching shaft 8 Pitching hydraulic cylinder 9 Pitching link mechanism 10 Vehicle body 51 Pitching control valve 52 Rolling control valve 60 Longitudinal inclination sensor 61 Lateral inclination Sensor 65 Sensitivity changing means 66 Rice quantity sensor 67 Rotating sensor Representative Eihisa Mizuta Figure 5 Figure 8

Claims (1)

[Claims] In a vehicle body that performs rolling control that changes the inclination angle in the left and right direction for a pair of left and right crawlers, and pitching control that changes the inclination angle in the longitudinal direction, the rolling control is performed by detecting changes in the running conditions of the vehicle body. , or a traveling device such as a combine harvester that is provided to automatically change and control the sensitivity of pitching control.