JPH03200489A - Travel control device for mobile agricultural machine - Google Patents

Abstract

PURPOSE:To make the travel of a body smooth at the time of going over a protruding part by constructing a travel control device for mobile agricultural machine such as a tractor in such a way as to rotate a travel device formed of a bilateral pair of crawlers independently to a body to change the longitudinal inclination. CONSTITUTION:The lateral inclination and longitudinal inclination of a body 2 are respectively detected by a lateral inclination sensor 25 and a longitudinal inclination sensor 26. On the basis of the detected result of the lateral inclination sensor 25, a laterally rolling cylinder 17 is expanded to rotate a rolling arm 14 so as to elevate a lateral travel device 1 to keep horizontality. Also, on the basis of the detected result of the longitudinal inclination sensor 26, a laterally pitching cylinder 22 is expanded to rotate a pitching ara 19 so as to rotate the lateral travel device 1 independently around a fulcrum 7 to the body 2 to change the longitudinal inclination for pitching control. With this constitution, smooth travel is performed even in the case of only one crawler going over a protruding part.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a travel control device for mobile agricultural machinery, and can be used for combines, tractors, and the like.

(Prior art and problems to be solved by the invention) In a configuration in which a traveling device consisting of a pair of left and right crawlers is integrally provided with respect to the vehicle body so as to be able to perform pitching control by changing the inclination in the longitudinal direction, it is possible to control pitching by changing the inclination in the longitudinal direction. When one of the crawlers runs over a convex part, the vehicle pitch control is performed by integrally changing the longitudinal inclination of the traveling device consisting of a pair of left and right crawlers. When the vehicle body moves up and down violently.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to allow a vehicle body to run smoothly even when only one crawler climbs over a convex portion.

(Means for Solving the Problems) The present invention provides traveling control for a mobile agricultural machine in which a traveling device 1 consisting of a pair of left and right crawlers is provided so as to be capable of pitching control by independently changing the inclination in the longitudinal direction with respect to a vehicle body 2. The configuration of the device.

(Operations and Effects of the Invention) When one of the traveling devices 1 rides on a convex portion while driving, pitching control is performed to independently change the longitudinal inclination of only this one traveling device 1 with respect to the vehicle body 2, The other traveling device 1 is maintained parallel to the vehicle body 2.

Therefore, when one traveling device 1 climbs over a convex portion, pitching is controlled only on this traveling device, but since the top of the other traveling device is maintained parallel to the vehicle body 2, the vehicle climbs over the convex portion and descends. At times, the vehicle body 2 does not move violently up and down, and stable running conditions can be maintained.

Furthermore, even more stable traveling can be achieved by raising and lowering the left and right traveling devices 1 with respect to the vehicle body 2 to perform rolling control.

(Example) In the example shown in Figure 1, vehicle body frames 3 in the front and rear directions are provided on the left and right sides of the lower part of the vehicle body 2, and these left and right vehicle body frames 3
A left and right running shaft pipe 5 of a running transmission case 4, which is attached to the vehicle body 2 and transmits a running device 11 consisting of a pair of left and right crawlers, is attached to the front end of the vehicle body 2.

A pitching frame 6 is provided at the inner lower side of the left and right vehicle body frames 3 in the front-rear direction along the vehicle body frame 3, and a support shaft 7 is provided at the front part extending between these left and right pitching frames 6. Both ends of the support shaft 7 are attached to the vehicle body frame 3
Each is rotatably supported on a bearing at the bottom of the.

A traveling frame 9 is provided below the lateral outer sides of the left and right pitching frames 6 in the front-rear direction. A plurality of wheels 10 are rotatably supported on the outside of these left and right running frames 9, and a tensioning wheel 11 is provided at the rear end to be attached to the running frame 9 so as to be able to move in and out. . A crawler is wound around these wheels 11, a plurality of rolling wheels 10, and a driving sprocket 12 provided at the tips of the left and right traveling shaft pipes 5 to form the traveling device 1.

Rolling arms 14 are rotatably provided on the support shaft 7 of the pitching frame 6 and rolling arm shafts 13 provided at the lower rear ends of the left and right pitching frames 6, respectively. One end of these rolling arms 14 is rotatably connected to a pin 15 of the traveling frame 9, and the other end is connected to the front and rear rolling arms 14 by a connecting rod 16, and is pitched with the tip of the rear rolling arm 14. A rolling cylinder 17 is provided between the pitching frame 6 and the pitching frame 6, and the rolling cylinder 17 is provided above the pitching frame 6. The rolling cylinder 1
The front and rear rolling arms 1 are expanded and contracted by the hydraulic pressure of 7.
4 is swung around the support shaft 7 and the rolling arm shaft 13 as rotation centers, and the running frame 9 is configured to move up and down with respect to the pitching frame 6.

A support shaft 18 is provided near the rear of the left and right vehicle body frames 3 and extends between the left and right vehicle body frames 3, and left and right pitching arms 19 are projected forward from the support shaft 18 so as to be freely rotatable. It is set up. Links 20 are rotatably provided at the forwardly protruding tips of these left and right pitching arms 19, respectively. The tip of this link 20 is rotatably attached to a bin 21 provided on the rear side of the pitching frame 6, and a pitching cylinder 22 is provided between the pitching arm 19 and the vehicle body frame 3 side. The pitching arm 19 swings around the support shaft 18 due to expansion and contraction by hydraulic pressure, and the pitching frame 6 and traveling frame 9 are linked together through the link 20 so that they are moved up and down about the support shaft 7 as a rotation center. ing.

When the rolling cylinder 17 is extended, the front and rear rolling arms 14 are integrally swung, and the traveling frame 9 is configured to move downward while maintaining a parallel state to the pitching frame 6. The center of rotation of the front rolling arm 14 and the center of rotation of the pitching frame 6 are the same.

Stroke sensors 23 are provided to detect the operating amounts of the left and right pitching cylinders 22, and stroke sensors 24 are provided to the left and right rolling cylinders 17 to detect the operating amounts of these rolling cylinders 17, respectively.

It has a left-right tilt sensor 25 that detects the left-right tilt of the vehicle body 2, and a front-rear tilt sensor 26 that detects the front-rear tilt of the vehicle body 2. The first transfer 10a and the central large-diameter rotation shaft 10b of the traveling device 1 consisting of a crawler are each provided with a sensor 8 that detects when an abnormally large load is applied to these wheels.

When the left and right tilt sensor 25 detects that the vehicle body 2 is tilted left and right, the left and right rolling cylinders 17 are expanded and contracted based on this detection result, and the rolling arm 14 is rotated.
The vehicle body 2 is configured to be horizontally rolling controlled by raising and lowering left and right running bags [1 with respect to the vehicle body 2. or,
When the longitudinal inclination sensor 26 detects that the vehicle body 2 is tilted longitudinally, the left and right pitching cylinders 22 are expanded and contracted based on this detection result, and the pitching arm 19 is rotated, causing the left and right traveling devices to move relative to the vehicle body 2. 1 is rotated around a support shaft 7 to change the inclination in the longitudinal direction, and the vehicle body 2 is pitched horizontally in the longitudinal direction.

FIG. 3 shows an operation theory IjlJ showing pitching and rolling control when the left and right traveling devices 1 go over a convex portion.
In the figure, during traveling, either the left or right traveling device 1
When only the traveling device 1 runs onto the convex portion, the sensor 8a detects that the load applied to the first transfer device 1, 0a has suddenly increased and turns ON, and determines which traveling device 1, the left or the right, has climbed on the convex portion. Then, as soon as the longitudinal inclination sensor 26 detects the inclination, pitching control output is started for the traveling device 1 that has climbed onto this convex portion, and the pitching cylinder 22 is extended to move the traveling device @ 1 around the support shaft 7. The vehicle body 2 is then rotated downward, and the vehicle body 2 is controlled to be pitched horizontally in the front and rear directions, and rolling control output is started in response to the tilt detection of the left and right tilt sensor 25, which is opposite to the traveling device 1 that has run onto the convex portion. The rolling cylinder 17 extends with respect to the traveling device 1 on the side and lowers the traveling device 1 with respect to the vehicle body 2, so that the vehicle body 2 is controlled to roll laterally and horizontally.

Then, when the first transfer 10a passes the convex part and the sensor 8a turns OFF, and the sensor 8b detects that the load applied to the central large-diameter roller 10b has suddenly increased and turns ON, the pitching cylinder 22 is contracted. Pitching control for rotating the traveling device 11 upward about the support shaft 7 is started. When the sensor 8a detects that the traveling device 1 has climbed over the convex portion and the first transfer 10a has touched the ground, pitching control is performed in which the pitching cylinder 22 is extended and the traveling device 1 is rotated downward about the support shaft 7. In order to reduce the longitudinal inclination of the traveling gear 1, α>β, and to detect the inclination of the left-right tilt sensor 25, the traveling gear that has ridden on the convex part [1] is moved to the vehicle body 2. Rolling control is performed to raise the vehicle body 2, and the vehicle body 2 is maintained horizontally horizontally.

In this way, when the traveling device 1 on either the left or right side goes over a convex portion, the traveling device 1 on the side that goes over the convex portion performs pitching control to change the inclination in the longitudinal direction with respect to the vehicle body 2, and the traveling device 1 on the opposite side The traveling device 1 is controlled to roll, and the vehicle body 2 is maintained horizontally in the front, rear, left, and right directions. Therefore, by providing the left and right traveling devices 1 to be capable of rolling and pitching independently, when only the − side traveling device 1 climbs over the convex portion and descends, the other side traveling device 1 touches the ground and is controlled to roll. Therefore, stable running can be achieved with less vertical movement of the vehicle body 2.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention; FIG. 1 is a plan view, FIG. 2 is a side view, FIG. 3 is an explanatory diagram of the operation, and FIG. 4 is a flowchart thereof. In the figure, reference numeral 1 denotes a traveling device, 2 a vehicle body, 6 a pitching frame, 17 a rolling cylinder, 22 a pitching cylinder, 25 a left-right tilt sensor, and 26 a front-rear tilt sensor.・Figure 3 Figure 4 (0) 665-

Claims (1)

[Claims] A traveling control device for a mobile agricultural machine, in which a traveling device 1 consisting of a pair of left and right crawlers is provided so as to be capable of pitching control by independently changing the inclination in the longitudinal direction with respect to a vehicle body 2.