JPH03232416A - Device for controlling travel posture of moving agricultural machine - Google Patents

Abstract

PURPOSE:To prevent the turnover of a vehicle body and simultaneously control the rolling of the vehicle body by lowering the height of the vehicle body when the vehicle body is laterally largely tilted during the control of the rolling thereof. CONSTITUTION:When the lateral tilt of a vehicle body 1 approaches a dangerous point A during the laterally horizontal control of the vehicle body 1, the vehicle body 1 is lowered to prevent the turnover thereof. When the tilt is reduced below the dangerous point A, the lowering of the vehicle body 1 is stopped and right and left crawlers 2 are vertically moved on the vehicle body 1 to maintain the vehicle body 1 in a laterally horizontal state. The dangerous angle A is desirably set by defining as a safe limit the difference between the lateral tilt B of a travel ground and the tilt angle C of the right and left crawlers 2 to the vehicle body 1 whose height is placed at the highest position.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a traveling attitude control device for a mobile agricultural machine such as a combine harvester.

(Prior Art and Problems to be Solved by the Invention) In rolling control, in which a pair of left and right crawlers are moved up and down relative to the vehicle body to control the left and right posture of the vehicle body from rolling to horizontal, the driving surface, etc. Due to this, if the vehicle body leans excessively to the left or right, there is a risk of the vehicle body overturning.

This invention attempts to maintain a safe running posture by lowering the height of the vehicle body (vehicle height) when the vehicle body tilts significantly to the left or right during rolling control of the vehicle body. be.

(Means for Solving the Problems) The present invention provides a rolling control device 3 for maintaining and controlling the vehicle body 1 in a horizontal horizontal position by moving left and right crawlers 2 up and down relative to the vehicle body 1. The vehicle height is lowered when the lateral lean angle is greater than the overturning danger angle, and when the lateral lean angle of the vehicle body 1 becomes smaller than the danger angle during this vehicle height lowering output, this lowering output is stopped. This is a configuration of a traveling attitude control device for a mobile agricultural machine, characterized in that it is provided with a lowering control device 4 that automatically controls the movement.

(Function) The rolling control device 3 moves the left and right crawlers 2 up and down with respect to the vehicle body 1 to roll the vehicle body 1 to the left or right side, thereby changing the left and right horizontal posture of the vehicle body 1. During control, when the vehicle body 1 tilts significantly to the left or right and reaches a tipping danger angle or higher, the vehicle height is lowered to a predetermined position by the operation of the lowering control device 4 due to this tilt. Further, when the angle of inclination of the vehicle body 1 becomes smaller, the lowering of the vehicle height is stopped.

In this way, during horizontal horizontal control of the vehicle body 1, if the horizontal inclination of the vehicle body 1 approaches the danger angle, the vehicle body 1 is lowered to lower the center of gravity to maintain a posture that prevents it from overturning, and to lower the center of gravity to below the danger angle. When the vehicle body 1 becomes smaller than 5, by stopping the descent of the vehicle body 1, it is possible to prevent the vehicle body 1 from overturning and maintain a safe vehicle body
The rolling action maintains the left and right horizontal posture.

(Example) When the vehicle body 1 is rotated, a pair of left and right crawlers 2 are attached to the lower side, and front and rear link arms 5 forming a parallel link mechanism are attached to the vehicle body 1.
, 6. The front and rear link arms 5°6 are configured to move up and down independently on the left and right sides by means of rolling cylinders 7, etc. that rotate them. A movable chassis 9 is provided, and the structure is such that it tilts forward and backward via a link mechanism 11 as a pitching cylinder 10 expands and contracts.

The left and right crawlers 2 extend between a rotatable transfer gear 13 disposed along a crawler frame 12 and a drive sprocket 1-14 that is transmitted through a transmission device of a traveling transmission case at the front end of the vehicle body 1. The endless track belt 15 is passed over the chain and driven by the rotation of the drive sprocket 14.

The crawler 2 is configured to move the crawler frame 12 up and down parallel to the vehicle body 1 by rotating the front and rear link arms 5 and 6, thereby raising and lowering the crawler frame 12. Reference numeral 16 denotes a rod that interlocks the front and rear link arms 5.6, and the rolling cylinders 7 are provided to extend and contract between the front link arms 5 and the vehicle body 1. Each crawler 2 is independently moved up and down with respect to the vehicle body 1. Due to the vertical movement of the left and right crawlers 2, the vehicle body 1 is tilted to the left or right, becomes horizontal, or the entire vehicle body 1 is moved vertically.

The pitching shaft 8 is provided on the center of rotation of the front link arm 6 with respect to the vehicle body 1, and is provided between the vehicle body 1 and the vehicle chassis 9 by a pitching cylinder 10 that is telescopically controlled at the rear end of the vehicle chassis 9. By the rotation of the link mechanism 11,
The chassis 9 is configured to be rotated at an appropriate angle with respect to the vehicle body 1 from a state parallel to the front and back to a downward slope in the front.

On the chassis 9, in the case of a combine harvester, there is a reaping device at the front,
It is equipped with a control device, a threshing device, a grain tank, etc. at the rear.

The rolling control device 3, the lowering control device 4, etc. are composed of a controller 17 having a microcomputer, various sensors on the input side thereof, various sensors on the output side, and the like.

On the input side, there is a general up/down switch 18 for simultaneously expanding and contracting the left and right rolling cylinders 7 to raise or lower both the left and right sides of the vehicle body 1, and a control lever that rotates and tilts back and forth or left and right. Due to the expansion and contraction of the pitching cylinder 10, the chassis 90 tilts back and forth with respect to the vehicle body 1 (pitching)
A tilt lever switch 19 is used to tilt (roll) the car body 1 to the left or right by expanding and contracting the left and right rolling cylinders 7. A threshing clutch switch 20 that performs automatic horizontal control at the time of entry, and a vehicle horizontal switch 21 that controls the vehicle body 1 in a left-right horizontal posture through rolling control and pitching control as described above. A left/right tilt sensor 22 that detects the horizontal tilt angle and horizontal equality of the vehicle body 1
, a longitudinal inclination sensor 23 that detects the longitudinal inclination angle and horizontality of the chassis 9, left and right stroke sensors 24 and 25 that perform feedback control while detecting the elongation of the left and right rolling cylinders 7, and elongation of the pitching cylinder 10. A longitudinal stroke sensor 26, etc., which performs feedback control while detecting the stroke, is provided.

Further, on the output side, there are an upper left solenoid 28 and a lower left solenoid 29 for switching the left rolling control valve 27 between the raising side and the lowering side so as to expand and contract the left rolling cylinder 7 and move the left side vehicle body 1 up and down. Upper right solenoid 31 that switches the right rolling control valve 30 of the right rolling cylinder 7, lower right solenoid 32, front and rear rolling cylinder 1
front and rear solenoids 34 and 35 for switching the pitching control valve 33 so as to expand and contract the chassis 9 and move the chassis 9 up and down around the pitching shaft 8; and an unload solenoid 37 that operates the unload valve 36; An automatic lamp 38 and the like is provided which turns on when horizontal control is automatically performed by turning on the threshing switch 20.

The hydraulic circuit 39 of the hydraulic pump P includes the above-mentioned columns, right rolling control valves 27, 30, pitching control valve 33, left and right rolling cylinders 7, pitching cylinder 10, and
An unload valve 36 and the like are provided.

Of these, the rolling control device 3 includes manual rolling control and automatic rolling control by operating the tilt lever switch 19, the vehicle horizontal switch 21, or the threshing switch 20.

When the detected angle of the left and right tilt sensor 22 exceeds a predetermined set angle A that is dangerous for the vehicle body 1 to roll over, the lower left solenoid 2 is activated by the lower left solenoid 4 based on this detection.
9 and the lower right solenoid 32, the left and right rolling control valves 27 and 30 are switched, and the left and right rolling cylinders 7 are simultaneously reduced to lower the vehicle body 1 (FIG. 4).

When this lowering reaches a preset position, the left and right solenoids 29 and 32 are switched to the neutral position by detection by the left and right stroke sensors 24 and 25, and the lowering of the vehicle body 1 is stopped.

As shown in FIG. 5, the danger angle A is determined by the left and right inclination B of the running ground and the inclination angle C of the left and right crawlers 2 with respect to the vehicle body 1 at the highest vehicle height position. It is preferable to set the limit as A=B−C.

[Brief explanation of drawings]

The figures show one embodiment of the present invention, in which Figure 1 is a side view, Figure 2 is a hydraulic circuit diagram, Figure 3 is a control block diagram, and Figure 4 is a control block diagram.
The figure is a flowchart of partial control, and FIG. 5 is a front view showing control limits. (Explanation of symbols) 1 Vehicle body 2 Crawler 3 Rolling control device 4 Lowering control device

Claims (1)

[Claims] Move the left and right crawlers 2 up and down with respect to the car body 1.
The rolling control device 3, which maintains and controls the vehicle body 1 in a horizontal horizontal position, lowers the vehicle height by tilting the vehicle body 1 horizontally to a position greater than the overturn danger angle, and during this vehicle height lowering output, the vehicle body 1 A running attitude control device for a mobile agricultural machine, characterized in that it is provided with a lowering control device 4 that automatically controls the lowering output to stop when the horizontal inclination angle of the mobile agricultural machine becomes smaller than the danger angle.